Building blocks

go-canbus

The CAN transport for Go: classical CAN, CAN FD and CAN XL frames on Linux SocketCAN, serial-line (slcan) adapters on every OS and a virtual bus, with ISO-TP, capture and replay in seven trace formats, and DBC, KCD and ARXML databases with a signal codec and a Go code generator. go-canopen runs on it. No cgo.

View on GitHub API reference

What it does

Frames: classical CAN with 11- and 29-bit identifiers, CAN FD with bit rate switching and error state indicator, remote and error frames, and CAN XL with priority, VCID, SDU type and up to 2048 bytes; filters with the exact semantics of Linux CAN_RAW_FILTER.
Transports: Linux SocketCAN with kernel filters, timestamps, drop accounting and allocation-free I/O; serial-line (slcan) adapters such as CANable, CANtact and USBtin on Linux, macOS and Windows; a deterministic virtual bus with seeded faults; one Bus shared by many filtered subscriptions.
Interface administration through rtnetlink, kept apart from the transport: list and inspect interfaces, bit timing and error counters, bit rates, CAN FD, restart, vcan and vxcan.
ISO-TP (ISO 15765-2) in userspace and through the Linux kernel: normal, extended and mixed addressing, flow control with block size, STmin, WAIT and OVERFLOW, padding, CAN FD and messages above 4095 bytes.
Traces: candump, lossless JSON Lines, pcap and pcapng (checked against tcpdump and Wireshark), Vector ASC and BLF, PEAK TRC, with streaming replay at original, scaled or maximum speed.
Databases: DBC and KCD read and write, AUTOSAR 4 ARXML read, with Intel and Motorola byte order, signed, float, scaling, value tables, simple and extended multiplexing and exact 64-bit raw values; typed Go generated from a database.
Interop tested in CI on Linux virtual CAN against can-utils and the kernel's ISO-TP, python-can, socketcan-rs, Scapy, python-can-isotp, cantools and canmatrix: 170 scenarios pass, none fail. Kernels 6.1 to 7.0 in micro-VMs.
No ISO or CiA conformance claim, and not yet tested on real CAN hardware: virtual CAN shows frame encoding and protocol logic, not bit timing, arbitration or bus-off. No vendor adapters (PEAK, Kvaser, Vector) yet. CANopen runs on top in go-canopen; J1939 and UDS are not implemented.

Install

go get github.com/otfabric/go-canbus

Protocols

CAN bus: The two-wire bus of vehicles, machines, batteries and chargers, and the transport that CANopen, SAE J1939 and UDS run on: short frames with an identifier that names the message and sets its priority, CAN FD for longer and faster frames, CAN XL for up to 2048 bytes, and ISO-TP for messages above one frame.

The README on GitHub has the full feature list, examples and changelog.

go-canopen

CANopen (CiA 301) and CANopen FD on go-canbus: object dictionary, SDO and USDO, NMT, heartbeat, PDOs and MPDOs, SYNC, EMCY, TIME, LSS, a complete device and a CiA 302 network manager, EDS/DCF files, typed Go from an EDS and the CiA 402 drive profile. No cgo.

go get github.com/otfabric/go-canopen

canbusctl

Monitor, record, convert and replay CAN, CAN FD and CAN XL traffic, decode and encode with DBC, KCD or ARXML, run ISO-TP, simulate a database and test under faults. Passive by default; transmitting on a real bus needs --yes.

canopenctl

Monitor and decode CANopen traffic, read and write object dictionaries over SDO or USDO, manage nodes with NMT, assign node-IDs with LSS, boot a network as a CiA 302 manager, configure PDOs and MPDOs, work with EDS, DCF and concise DCF files, drive CiA 402 axes and simulate devices. Read-only by default; changes on a real bus need --yes.

canbus-interop

Seven independent CAN references in containers behind one contract: can-utils with the kernel's ISO-TP, python-can, socketcan-rs, Scapy, python-can-isotp, cantools and canmatrix, on Linux virtual CAN.

go-canbus

What it does

Install

Protocols

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