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Linux CAN

Dart implementation of SocketCAN.

This version supports both reading and writing can frames. Selecting your can interface is now possible.

CAN-FD is not supported yet.

Compared to the upstream repository, I've re-implement the FFI interfaces and re-written the code signficantly.

Example cansend and candump programs are included in the bin directory.

Using the package

There are no system dependenices needed, except the libc.so.6 which probably should be installed on your device.

Setup

At first create a CanDevice. You can set a custom bitrate, default is 500 000. Afterwards call setup(). A SocketException will be thrown if something goes wrong.

final canDevice = CanDevice(bitrate: 250000, interfaceName: 'vcan0');
await canDevice.setup();

Reading Data

To receive data use read(), which returns a CanFrame. It contains the id and data of the frame.

final frame = canDevice.read();
print("Frame id: ${frame.id}");
print("Frame data: ${frame.data}");

To close the socket use close().

Writing Data

canDevice.write(CanFrame(
      id: 0x7E0,
      data: Uint8List.fromList([0x02, 0x10, i]),
    ));

Testing

To test the package you can use the vcan kernel module. It is a virtual CAN bus which can be used to test the package without any hardware.

sudo modprobe vcan
sudo ip link add dev vcan0 type vcan
sudo ip link set up vcan0

Then you can run candump to see the data which is sent to the virtual CAN bus.

In one terminal window:

dart run ./bin/candump.dart

In another terminal window:

dart run ./bin/cansend.dart

You should see the dart candump script receive the data from cansend and print it to the console.

Limitations

  • Bitrate currently needs to be set externally from the dart script.