Warning

This documentation is actively being updated as the project evolves and may not be complete in all areas.

CAN driver

jumpstarter-driver-can provides functionality for interacting with CAN bus connections based on the python-can library.

Installation

pip3 install --extra-index-url https://pkg.jumpstarter.dev/simple/ jumpstarter-driver-can

jumpstarter_driver_can.Can

A generic CAN bus driver.

Available on any platform, supports many different CAN interfaces through the python-can library.

Configuration

Example configuration:

export:
  can:
    type: jumpstarter_driver_can.Can
    config:
      channel: 1
      interface: "virtual"

Parameter	Description	Type	Required	Default
interface	Refer to the python-can list of interfaces	str	yes
channel	channel to be used, refer to the interface documentation	int or str	yes

API Reference

class jumpstarter_driver_can.client.CanClient

A generic CAN client for sending/recieving traffic to/from an exported CAN bus.

property channel_info: str

Get the CAN channel info.

flush_tx_buffer() → None

Flush the transmission buffer.

property protocol: CanProtocol

Get the CAN protocol supported by the bus.

send(msg: Message, timeout: float | None = None) → None

Send an individual CAN message.

shutdown() → None

Shutdown the bus.

property state: BusState

The current state of the CAN bus.

jumpstarter_driver_can.IsoTpPython

A Pure python ISO-TP socket driver

Available on any platform (does not require Linux ISO-TP kernel module), moderate performance and reliability, wide support for non-standard hardware interfaces

Configuration

Example configuration:

export:
  can:
    type: jumpstarter_driver_can.IsoTpPython
    config:
      channel: 0
      interface: "virtual"
      address:
        rxid: 1
        txid: 2
      params:
        max_frame_size: 2048
        blocking_send: false
        can_fd: true

Parameter	Description	Type	Required	Default
interface	Refer to the python-can list of interfaces	str	no
channel	channel to be used, refer to the interface documentation	int or str	no
address	Refer to the isotp.Address documentation	isotp.Address	yes
params	IsoTp parameters, refer to the IsoTpParams section table	IsoTpParams	no	see table
read_timeout	Read timeout for the bus in seconds	float	no	0.05

API Reference

class jumpstarter_driver_can.client.IsoTpClient

An ISO-TP CAN client for sending/recieving ISO-TP frames to/from an exported CAN bus.

available() → bool

Returns True if an ISO-TP frame is awaiting in the reception queue, False otherwise.

recv(block: bool = False, timeout: float | None = None) → bytes | None

Dequeue an ISO-TP frame from the reception queue if available.

send(data: bytes, target_address_type: int | None = None, send_timeout: float | None = None) → None

Enqueue an ISO-TP frame to send over the CAN network.

set_address(address: Address | AsymmetricAddress) → None

Sets the layer address. Can be set after initialization if needed. May cause a timeout if called while a transmission is active.

start() → None

Start listening for messages.

stop() → None

Stop listening for messages.

stop_receiving() → None

Stop receiving messages.

stop_sending() → None

Stop sending messages.

transmitting() → bool

Returns True if an ISO-TP frame is being transmitted, False otherwise.

jumpstarter_driver_can.IsoTpSocket

Pure python ISO-TP socket driver

Available on any platform, moderate performance and reliability, wide support for non-standard hardware interfaces

Configuration

Example configuration:

export:
  can:
    type: jumpstarter_driver_can.IsoTpSocket
    config:
      channel: "vcan0"
      address:
        rxid: 1
        txid: 2
      params:
        max_frame_size: 2048
        blocking_send: false
        can_fd: true

Parameter	Description	Type	Required	Default
channel	CAN bus to be used i.e. vcan0, vcan1, etc..	str	yes
address	Refer to the isotp.Address documentation	isotp.Address	yes
params	IsoTp parameters, refer to the IsoTpParams section table	IsoTpParams	no	see table

API Reference

class jumpstarter_driver_can.client.IsoTpClient

An ISO-TP CAN client for sending/recieving ISO-TP frames to/from an exported CAN bus.

available() → bool

Returns True if an ISO-TP frame is awaiting in the reception queue, False otherwise.

recv(block: bool = False, timeout: float | None = None) → bytes | None

Dequeue an ISO-TP frame from the reception queue if available.

send(data: bytes, target_address_type: int | None = None, send_timeout: float | None = None) → None

Enqueue an ISO-TP frame to send over the CAN network.

set_address(address: Address | AsymmetricAddress) → None

Sets the layer address. Can be set after initialization if needed. May cause a timeout if called while a transmission is active.

start() → None

Start listening for messages.

stop() → None

Stop listening for messages.

stop_receiving() → None

Stop receiving messages.

stop_sending() → None

Stop sending messages.

transmitting() → bool

Returns True if an ISO-TP frame is being transmitted, False otherwise.

IsoTpParams

Parameter	Description	Type	Required	Default
stmin	Minimum Separation Time minimum in milliseconds between consecutive frames.	int	No	0
blocksize	Number of consecutive frames that can be sent before waiting for a flow control frame.	int	No	8
tx_data_length	Default length of data in a transmitted CAN frame (CAN 2.0) or initial frame (CAN FD).	int	No	8
tx_data_min_length	Minimum length of data in a transmitted CAN frame; pads with tx_padding if shorter.	int | None	No	None
override_receiver_stmin	Override the STmin value (in seconds) received from the receiver; None means do not override.	float | None	No	None
rx_flowcontrol_timeout	Timeout in milliseconds for receiving a flow control frame after sending a first frame or a block.	int	No	1000
rx_consecutive_frame_timeout	Timeout in milliseconds for receiving a consecutive frame in a multi-frame message.	int	No	1000
tx_padding	Byte value used for padding if the data length is less than tx_data_min_length or for CAN FD.	int | None	No	None
wftmax	Maximum number of Wait Frame Transmissions (WFTMax) allowed before aborting. 0 means WFTs are not used.	int	No	0
max_frame_size	Maximum size of a single ISO-TP frame that can be processed.	int	No	4095
can_fd	If True, enables CAN FD (Flexible Data-Rate) specific ISO-TP handling.	bool	No	False
bitrate_switch	If True and can_fd is True, enables bitrate switching for CAN FD frames.	bool	No	False
default_target_address_type	Default target address type: 0 for Physical (1-to-1), 1 for Functional (1-to-n).	int	No	0
rate_limit_enable	If True, enables rate limiting for outgoing frames.	bool	No	False
rate_limit_max_bitrate	Maximum bitrate in bits per second for rate limiting if enabled.	int	No	10000000
rate_limit_window_size	Time window in seconds over which the rate limit is calculated.	float	No	0.2
listen_mode	If True, the stack operates in listen-only mode (does not send any frames).	bool	No	False
blocking_send	If True, send operations will block until the message is fully transmitted or an error occurs.	bool	No	False