Synopsis

can2udp -h
can2udp --help
can2udp [-4 | --ipv4 | -6 | --ipv6] [-b | --broadcast] [-D | --no-daemon]
        [-f | --flush] [-i n | --interface=n] [-k ms | --keep-alive=ms]
        [-p local_port | --port=local_port] [-v | --verbose] [interface]
        [address] [port]

Description

The CAN to UDP forwarding tool is a bridge between the CAN bus and UDP. It converts CAN frames to and from generic frames (as specified by CiA 315) and transmits these over UDP.

The options are as follows:

-4, --ipv4            Use IPv4 for receiving UDP frames (default).
-6, --ipv6            Use IPv6 for receiving UDP frames.
-b, --broadcast       Send broadcast messages (IPv4 only).
-D, --no-daemon       Do not run as daemon.
-f, --flush           Flush the send buffer after every received CAN frame.
-h, --help            Display help.
-i <n>, --interface=<n>
                      Use WTM interface indicator <n> (in the range
                      [1..127], default: 1).
-k <ms>, --keep-alive=<ms>
                      Sends a keep-alive message every <ms> milliseconds
                      (default: 10000).
-p <local port>, --port=<local port>
                      Receive UDP frames on <local port>.
-v, --verbose         Print sent and received CAN frames.

Example

Linux supports virtual CAN interfaces (through SocketCAN). This allows a user to run CAN programs on machines (such as a developer PC) which do not have a physical CAN bus. can2udp makes it possible to connect the virtual CAN interface to an actual CAN bus on a remote device, as long as there is an IPv4/IPv6 connection.

To setup the connection, run

can2udp -fp 6000 can0 192.168.0.101 6001

on the device with a physical CAN bus, and

can2udp -fp 6001 vcan0 192.168.0.100 6000

on the machine with a virtual CAN interface. The first device listens on 192.168.0.100:6000 for incoming UDP frames, and puts the CAN frames they contain on can0. Frames originating from the CAN bus are sent to 192.168.0.101:6001. The second devices receives those messages and puts them on vcan0. In this way, CAN frames are duplicated on can0 and vcan0, effectively combining the two remote CAN interfaces into a single CAN bus.

To monitor the CAN frames sent and received (like candump), run

can2udp -Dfvp 6001 vcan0 192.168.0.100 6000