Repository files navigation

Copyright © 2016,2020-2024 Uwe Vogt, UV Software, Berlin (info@uv-software.com)

CAN API V3 is a wrapper specification to have a uniform CAN Interface API for various CAN interfaces from different vendors running under multiple operating systems.

This repo contains the source code forCAN-over-Serial-Line interfaces based onLawicel SLCAN protocol.It provides the build environments to build dynamic libraries on macOS®, Linux®, Cygwin® and Windows®,either as a C++ class library (libSerialCAN),or as aCAN API V3 driver library (libUVCANSLC),as well as my beloved utilitiescan_moni andcan_test,and some C/C++ example programs.

The libraries, utilities and example programs can also be used withCANable 2.0 compatible devices.In this case, the protocol option must be set toCANSIO_CANABLE or the command line option--protocol CANable must be specified.

/// \name   SerialCAN API/// \brief  CAN API V3 driver for CAN-over-Serial-Line interfaces/// \note   See CCanApi for a description of the overridden methods/// \{classCSerialCAN :publicCCanApi {public:// constructor / destructorCSerialCAN();~CSerialCAN();// CSerialCAN-specific error codes (CAN API V3 extension)enum EErrorCodes {// note: range 0...-99 is reserved by CAN API V3        GeneralError = VendorSpecific    };// serial line attributestypedefcan_sio_attr_t SSerialAttributes;// CSerial methodsstatic CANAPI_Return_tProbeChannel(constchar *device,const CANAPI_OpMode_t &opMode, EChannelState &state);static CANAPI_Return_tProbeChannel(constchar *device,const CANAPI_OpMode_t &opMode,const SSerialAttributes &sioAttr, EChannelState &state);    CANAPI_Return_tInitializeChannel(constchar *device,const CANAPI_OpMode_t &opMode);    CANAPI_Return_tInitializeChannel(constchar *device,const CANAPI_OpMode_t &opMode,const SSerialAttributes &sioAttr);// CCanApi overridesstatic CANAPI_Return_tProbeChannel(int32_t channel,const CANAPI_OpMode_t &opMode,constvoid *param, EChannelState &state);static CANAPI_Return_tProbeChannel(int32_t channel,const CANAPI_OpMode_t &opMode, EChannelState &state);    CANAPI_Return_tInitializeChannel(int32_t channel,const CANAPI_OpMode_t &opMode,constvoid *param =NULL);    CANAPI_Return_tTeardownChannel();    CANAPI_Return_tSignalChannel();    CANAPI_Return_tStartController(CANAPI_Bitrate_t bitrate);    CANAPI_Return_tResetController();    CANAPI_Return_tWriteMessage(CANAPI_Message_t message,uint16_t timeout =0U);    CANAPI_Return_tReadMessage(CANAPI_Message_t &message,uint16_t timeout = CANWAIT_INFINITE);    CANAPI_Return_tGetStatus(CANAPI_Status_t &status);    CANAPI_Return_tGetBusLoad(uint8_t &load);    CANAPI_Return_tGetBitrate(CANAPI_Bitrate_t &bitrate);    CANAPI_Return_tGetBusSpeed(CANAPI_BusSpeed_t &speed);    CANAPI_Return_tGetProperty(uint16_t param,void *value,uint32_t nbyte);    CANAPI_Return_tSetProperty(uint16_t param,constvoid *value,uint32_t nbyte);char *GetHardwareVersion();// (for compatibility reasons)char *GetFirmwareVersion();// (for compatibility reasons)staticchar *GetVersion();// (for compatibility reasons)};/// \}

Important note: To build any of the following build targets run thebuild_no.sh script to generate a pseudo build number.

uranus@uv-pc007linux:~$ cd ~/Projects/CAN/Drivers/SerialCANuranus@uv-pc007linux:~/Projects/CAN/Drivers/SerialCAN$ ./build_no.sh

Repeat this step after eachgit commit,git pull,git clone, etc.

Then you can build the wholebleep by typing the usual commands:

uranus@uv-pc007linux:~$ cd ~/Projects/CAN/Drivers/SerialCANuranus@uv-pc007linux:~/Projects/CAN/Drivers/SerialCAN$ make cleanuranus@uv-pc007linux:~/Projects/CAN/Drivers/SerialCAN$ make alluranus@uv-pc007linux:~/Projects/CAN/Drivers/SerialCAN$ sudo make install

(The version number of the libraries can be adapted by editing theMakefiles in the subfolders and changing the variableVERSION accordingly. Don´t forget to set the version number also in the header fileVersion.h.)

libSerialCAN is a dynamic library with a CAN API V3 compatible application programming interface for use inC++ applications.See header fileSerialCAN.h for a description of all class members.

libUVCANSLC is a dynamic library with a CAN API V3 compatible application programming interface for use inC applications.See header filecan_api.h for a description of all API functions.

can_moni is a command line tool to view incoming CAN messages.I hate this messing around with binary masks for identifier filtering.So I wrote this little program to have an exclude list for single identifiers or identifier ranges (see program option--exclude or just-x). Precede the list with a~ and you get an include list.

Typecan_moni --help to display all program options.

can_test is a command line tool to test CAN communication.Originally developed for electronic environmental tests on an embedded Linux system with SocketCAN, I´m using it for many years as a traffic generator for CAN stress-tests.

Typecan_test --help to display all program options.

POSIX® compatible operating systems:

1. macOS®
2. Linux®
3. Cygwin®

Windows® operating system:

1. Windows 10 & 11 (x86 and x64)

• macOS Sonoma (14.6.1) on a Mac mini (M1, 2020)
• Apple clang version 15.0.0 (clang-1500.3.9.4)
• Xcode Version 15.4 (15F31d)

• macOS Monterey (12.7.6) on a MacBook Pro (2019)
• Apple clang version 13.0.0 (clang-1300.0.29.30)
• Xcode Version 13.2.1 (13C100)

• macOS High Sierra (10.13.6) on a MacBook Pro (late 2011)
• Apple LLVM version 10.0.0 (clang-1000.11.45.5)
• Xcode Version 10.1 (10B61)

• Debian 6.1.99-1 (2024-07-15) x86_64 GNU/Linux
• gcc (Debian 12.2.0-14) 12.2.0

• Cygwin 3.5.4-1.x86_64 2024-08-25 16:52 UTC x86_64 Cygwin
• GNU C/C++ Compiler (GCC) 12.4.0

• Microsoft Visual Studio Community 2022 (Version 17.11.1)

• Lawicel CANUSB (Hardware 1.0, Firmware 1.1)
• DSD TECH SH-C31A (CANable 2.0 open hardware)

The Xcode project for the trial program includes an xctest target with one test suite for most of the CAN API V3C interface function.To run the test suites or single test cases two CAN devices are required. General test settings can be adapted in the fileSettings.h.

1. Transmitting messages over the TTY is extremely slow; approx. 16ms per frame.I guess this is because the transmission is acknowledged by the CAN device.

2. Time-stamps are currently not supported.

3. Python Ctrl+C issue is still unsolved.

• The firmware currently does not provide ACK/NACK feedback for serial commands
• CAN FD operation mode (bit-rate switching) is not supported by the libraries
• Silent operation mode (listen-only) is not supported by the libraries
• SJA1000 bit-rates (BTR register) are not provided by the firmware
• Acceptance filtering is not provided by the firmware
• Bus errors (status flags) are not provided by the firmware
• Hardware and firmware versions are displayed as fake number0.0
• Serial number is displayed as fake number99999999

A generic documentation of the CAN API V3 application programming interface can be foundhere.

The documentation of the SLCAN protocol can be found onLawicel CANUSB product page.For the CANable 2.0 adaptation, see theCANable Firmware documentation on GitHub.

Except where otherwise noted, this work is dual-licensed under the terms of the BSD 2-Clause "Simplified" Licenseand under the terms of the GNU General Public License v3.0 (or any later version).You can choose between one of them if you use these portions of this work in whole or in part.

Mac and macOS are trademarks of Apple Inc., registered in the U.S. and other countries.
POSIX is a registered trademark of the Institute of Electrical and Electronic Engineers, Inc.
Windows is a registered trademark of Microsoft Corporation in the United States and/or other countries.
GNU C/C++ is a registered trademark of Free Software Foundation, Inc.
Linux is a registered trademark of Linus Torvalds.
Cygwin is a registered trademark of Red Hat, Inc.
All other company, product and service names mentioned herein may be trademarks, registered trademarks, or service marks of their respective owners.

If you connect your CAN device to a real CAN network when using this library, you might damage your application.

E-Mail: mailto://info@mac.can.com
Internet:https://www.mac-can.net