@embedded32/can

Lightweight, driver-agnostic CAN bus abstraction for the Embedded32 platform.

Overview

This package provides a TypeScript interface for CAN communication with support for:

• SocketCAN - Linux, Raspberry Pi, WSL
• MockCANDriver - Testing, CI, simulation
• Custom Drivers - Implement your own hardware layer

This module does not implement J1939 encoding/decoding. PGN/SPN logic is part of @embedded32/j1939.

Installation

npm install @embedded32/can

Platform Support

| Platform | Driver | Status | |----------|--------|--------| | Linux / Raspberry Pi / WSL | SocketCAN | ✅ Full support | | macOS / Windows | MockCANDriver | ✅ Simulation only |

Usage

SocketCAN (Linux)

import { CANInterface, SocketCANDriver } from "@embedded32/can";

const driver = new SocketCANDriver("can0");
const can = new CANInterface(driver);

// Send a CAN frame
can.send({
  id: 0x123,
  data: [0x01, 0x02, 0x03],
  extended: false
});

// Receive frames
can.onMessage((frame) => {
  console.log("CAN RX:", frame);
});

// Cleanup
can.close();

MockCANDriver (Cross-Platform Testing)

import { CANInterface, MockCANDriver } from "@embedded32/can";

const can = new CANInterface(new MockCANDriver());

can.onMessage((f) => console.log("Mock RX:", f));

can.send({
  id: 0x456,
  data: [0x10, 0x20, 0x30]
});

Custom Driver

import { ICANDriver, CANFrame } from "@embedded32/can";

export class MyDriver implements ICANDriver {
  send(frame: CANFrame) {
    // Write to hardware
  }

  onMessage(handler: (frame: CANFrame) => void) {
    // Call handler when frame arrives
  }

  close() {
    // Cleanup
  }
}

const can = new CANInterface(new MyDriver());

API Reference

CANFrame

interface CANFrame {
  id: number;
  data: number[];
  extended?: boolean;  // true = 29-bit, false = 11-bit
  timestamp?: number;
}

CANInterface

| Method | Description | |--------|-------------| | send(frame) | Send a CAN frame | | onMessage(handler) | Register message handler | | close() | Close the interface |

ICANDriver

interface ICANDriver {
  send(frame: CANFrame): void | Promise<void>;
  onMessage(handler: (frame: CANFrame) => void): void;
  close(): void;
}

SocketCAN Setup

# Install CAN utilities
sudo apt-get install can-utils

# Create virtual CAN interface
sudo ip link add dev vcan0 type vcan
sudo ip link set up vcan0

# Setup hardware CAN (500 kbps)
sudo ip link set can0 type can bitrate 500000
sudo ip link set up can0

License

MIT © Mukesh Mani Tripathi