### How to use:
```rust
use zlgcan_common::can::{CanChlCfgExt, CanChlCfgFactory, ZCanChlMode, ZCanChlType, ZCanFdFrame, CanMessage};
use zlgcan_common::device::ZCanDeviceType;
use zlgcan_driver::driver::{ZCanDriver, ZDevice};
#[cfg(target_os = "windows")]
use zlgcan_common::can::ZCanFdFrameV2;
#[cfg(target_os = "linux")]
use zlgcan_common::can::ZCanFdFrameV1;
fn main() {
let dev_type = ZCanDeviceType::ZCAN_USBCANFD_200U;
let dev_idx = 0;
// Create driver instance
let mut driver = ZCanDriver::new(dev_type as u32, dev_idx, None).unwrap();
// Open device
driver.open().unwrap();
// Get device info and assert some information
let dev_info = driver.device_info().unwrap();
assert_eq!(dev_info.can_channels(), 2);
assert_eq!(dev_info.canfd(), true);
// Create channel configuration factory
let factory = CanChlCfgFactory::new().unwrap();
let ch1_cfg = factory.new_can_chl_cfg(dev_type as u32, ZCanChlType::CANFD_ISO as u8, ZCanChlMode::Normal as u8, 500_000,
CanChlCfgExt::new(None, Some(1_000_000), None, None, None, None)).unwrap();
let ch2_cfg = factory.new_can_chl_cfg(dev_type as u32, ZCanChlType::CANFD_ISO as u8, ZCanChlMode::Normal as u8, 500_000,
CanChlCfgExt::new(None, Some(1_000_000), None, None, None, None)).unwrap();
let cfg = vec![ch1_cfg, ch2_cfg];
// intialize channels
driver.init_can_chl(cfg).unwrap();
// Create CANFD frame
let mut msg = CanMessage::new(0x7DF, None, [0x01, 0x02, 0x03, 0x04, 0x05], true, false, None).unwrap();
msg.set_bitrate_switch(true); // set canfd is bitrate switch
#[cfg(target_os = "windows")]
let frame = ZCanFdFrame::from(ZCanFdFrameV2::try_from(msg).unwrap());
#[cfg(target_os = "linux")]
let frame = ZCanFdFrame::from(ZCanFdFrameV1::try_from(msg).unwrap());
let frames = vec![frame];
// Transmit frame
let ret = driver.transmit_canfd(0, frames).unwrap();
assert_eq!(ret, 1);
driver.close();
}
```
### How to test
* Enter `driver/tests` folder. Select test file by your device type.
* If the channels of device is less than 2:
* Connect another CAN device with you device's channel for a monitor.
* Then run the selected testcase.
* When see receive frame from the monitor, then send frame by the monitor device.
* It means pass when the testcase exited without any panic.
* If the channels of device is rather than 2:
* Connected the channels 0 and 1.
* Then run the selected testcase.
* It means pass when the testcase exited without any panic.
* All testcase will output the send and received debug info.
### The tested device list(include `windows` and `linux`):
* USBCAN1 (include office device and deriving device)
* USBCAN2 (only deriving device)
* USBCANFD-200U
* USBCANFD-400U (without supporting channel 3 and 4)
### LICENSE
* GNU LESSER GENERAL PUBLIC LICENSE V3