LinuxCanBus¶

A C++ user-space CAN bus driver for Linux (using socketCAN).¶

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See http://linuxcanbus.readthedocs.io for installation instructions, examples and other documentation!

Features¶

Easy to use API for controller a CAN device in Linux
CMake-based build system
Conan (package manager) support

Installation¶

Automatic Build/Test/Package¶

Requires Conan to be installed.

~/LinuxCanBus$ conan create . testuser/testing

This will provide a static library called libLinuxCanBus.a and header files under a folder called include/LinuxCanBus, available to other Conan packages.

Manual Build¶

~/LinuxCanBus$ mkdir build
~/LinuxCanBus$ cd build/
~/LinuxCanBus/build$ conan install ..
~/LinuxCanBus/build$ conan build ..

This will build a static library called libLinuxCanBus.a and header files under a folder called include/LinuxCanBus.

Once you have installed LinuxCanBus, go to the Basic Example page to see how to use it!

Documentation¶

This documentation was created with sphinx. To build the documentation, first make sure sphinx is installed, and then navigate to the docs/ folder and run:

make html

Basic Example¶

NOTE: LinuxCanBus does not configure and bring “up” the CAN interface itself. This has to be done with command-lind calls to ip link and similar before using the library.

#include "LinuxCanBus/LinuxCanBus.hpp"

int main() {

    LinuxCanBus canBus;

    // Setup CAN bus using CAN interface can0 and the standard frame format (i.e. not extended)
    canBus.Init("can0", LinuxCanBus::FrameFormat::STANDARD);

    // Write to CAN bus
    CanMsg writeMsg;
    writeMsg.SetAddress(0x01);
    writeMsg.GetDataMutable().push_back(0x12);
    writeMsg.GetDataMutable().push_back(0x34);
    canBus.Write(writeMsg);

    // Read from CAN bus, if available
    // (0 means no blocking)
    CanMsg readMsg;
    canBus.Read(readMsg, 0);

    return 0;
}