This is a small C program that dumps the CAN traffic for one these adapters:
These adapters can be found everywhere on Ebay nowadays, but there is no official Linux support. Only a Windows binary file stored directly on GitHub.
When plugged in, it will show something like this:
Bus 002 Device 006: ID 1a86:7523 QinHeng Electronics HL-340 USB-Serial adapter
And the whole thing is actually a USB to serial converter, for which Linux will provide the 'ch341-uart' driver and create a new /dev/ttyUSB device. So this program simply implements part of that serial protocol.
canusb.c can be compile just by running make or with:
$ gcc canusb.c -o canusb
$ ./canusb -h
Usage: ./canusb <options>
Options:
-h Display this help and exit.
-t Print TTY/serial traffic debugging info on stderr.
-d DEVICE Use TTY DEVICE.
-s SPEED Set CAN SPEED in bps.
-b BAUDRATE Set TTY/serial BAUDRATE (default: 2000000).
-i ID Inject using ID (specified as hex string).
-j DATA CAN DATA to inject (specified as hex string).
-n COUNT Terminate after COUNT frames (default: infinite).
-g MS Inject sleep gap in MS milliseconds (default: 200 ms).
-m MODE Inject payload MODE (0 = random, 1 = incremental, 2 = fixed).
# dump CAN bus traffic from 1 Mbit CAN bus
$ ./canusb -t -d /dev/ttyUSB0 -s 1000000 -t
# send the bytes 0xBEEE from ID 005 on at 1 Mbit CAN bus
$ ./canusb -d /dev/ttyUSB0 -s 1000000 -t -i 5 -j BEEE
If you experience problems with the default firmware for the USB-CAN adapter, then you can try the open source firmware from: https://github.com/Kosmonova/usb-can-firmware-stm32