macOS^® User-Space Driver and SDK for TouCAN USB Interfaces from Rusoku

Rusoku Technologies is an innovative engineering team based in Lithuania, Europe. They offer CAN adapter at a reasonable price. Drivers and utilities for Windows and Linux are available as open-source. A macOS user-space driver for TouCAN USB interfaces from Rusoku is provided by UV Software.

Download Sources (zip) Sources (tar.gz) @GitHub

MacCAN-TouCAN Driver

The macOS driver for TouCAN USB Interfaces from Rusoku is based on MacCAN-Core which is an abstraction (or rather a wrapper) of Apple´s IOUsbKit to create USB user-space drivers for CAN interfaces from various vendors under macOS. The GitHub repository contains the source code for the MacCAN-TouCAN driver and several alternatives to build dynamic libraries for macOS, either as a C++ class library (libTouCAN), or as a CAN API V3 wrapper library (libUVCANTOU), as well as some example programs and my beloved CAN utilities can_moni and can_test.

The MacCAN-TouCAN SDK comes with a CAN API V3 compatible API. CAN API V3 is a wrapper specification by UV Software to have a uniform CAN Interface API for various CAN interfaces from different vendors running under multiple operating systems. See header file CANAPI.h for the CAN API V3 wrapper specification.

Features

Feature	Supported	Remarks
CAN 2.0		Classical CAN
CAN FD		Flexible Data-rate CAN
Bit-rate, CAN 2.0		high speed: up to 1 Mbps
Bit-rate, CAN FD		nominal: up to 1 Mbps data phase: up to 8 Mbps
11-bit identifier (STD)		CAN 2.0
29-bit identifier (XTD)		CAN 2.0
Remote frames (RTR)		CAN 2.0
Error frames (ERR)		CAN 2.0
Error indicator (ESI)		CAN FD only
Bit-rate switching (BRS)		CAN FD only
Listen-only mode (MON)		CAN 2.0
Identifier filtering		CAN 2.0, Std. and Xtd. IDs
Operation modes:
- Monitor mode enable/disable (MON)		disabled by default
- Error frames enable/disable (ERR)		disabled by default
- Remote frames disable/enable (NRTR)		enabled by default
- Extended frames disable/enable (NXTD)		enabled by default
- Shared access enable/disable (SHRD)		not supported
- Non-ISO CAN FD enable/disable (NISO)		not supported
- Bit-rate switching enable/disable (BRSE)		not supported
- CAN FD operation enable/disable (FDOE)		not supported
Bit-rate settings:
- Pre-defined bit-timing indexes		acc. CiA CANopen specification
- BTR register values		register fields: - `freq` (clock frequency in [Hz]) - `brp` (bit-rate prescaler) - `tseg1` (time segment 1) - `tseg2` (time segment 2) - `sjw` (synchronization jump width) - `sam` (number of samples)
Message reception:
- Message queue (FIFO)		up to 64K CAN messages
- Polling		return immediately
- Timed out		wait up to 65’534 milliseconds
- Blocking read		wait infinitely
Message transmission:
- Acknowledged write		not supported
- Buffered write		buffer size depends on the hardware
Software Development Kit:
- VSCP CANAL API		not available
- CAN API V3		C API and C++ API by UV Software
- Dynamic library		`libUVCANTOU.dylib`, `libTouCAN.dylib`
- Static library		`libUVCANTOU.a`, `libTouCAN.a`
- Source code		BDS-2-Clause or GPL-3.0-or-later
- Apple silicon		and Intel architecture
- Swift wrapper		Swift 5.5 (including SPM)
- Python wrapper		Python 3.8
- Windows wrapper		not available
- Utilities		CLI utilities `can_moni` and `can_test`
- Examples		C, C++, Swift, Python

Change-log

Version 0.3.1 (Commit c4aa890 of June 10, 2024):

Updated CAN API V3 sources to rev. 1312
Updated CAN API V3 Xcode testing to rev. 1334
Updated CAN API V3 GoogleTest testing to rev. 1336
Removed the upper size limit of string properties
Reworked CAN API V3 return values (C vs. C++)
Added a workaround for issue #32 (bus error states)
Integrated generic CAN API V3 Utilities (rev. 1323)
Updated release documents

Version 0.3 (Commit e8ab458 of April 25, 2024):

Removed all CANAL references from the project
Created a new TouCAN USB command interface
Added common Version.h to the project
Updated CAN API V3 sources to rev. 1270
Updated CAN API V3 testing sources to rev. 1273
Removed unused attributes from class CTouCAN
Changed the resolution of CTimer to 64 bit
Implemented identifier acceptance filtering
Added test suites for acceptance filtering
Added filtering option to utility can_moni
Added option --list-bitrates to the utilities
Fixed a bug with macro DLC2LEN()
Updated Makefiles and build_no.sh
Improved compiler and linker flags
Updated the Python wrapper and examples
Updated the Swift wrapper and examples
Updated the deployment rules

Version 0.2.6 (Commit 1b0d095 of November 12, 2023):

Updated MacCAN-Core sources to rev. 1816
Updated CAN API V3 sources to rev. 1212
Updated CAN API V3 testing sources to rev. 1219
Updated GoogleTest to version 1.14.0
Updated deployment rules
Added linker flag -rpath /usr/local/lib (C++ examples)

Version 0.2.5 (Commit 032d7bc of September 24, 2023):

Updated MacCAN Core sources to rev. 1757 (core 0.4)
Updated CAN API V3 sources to rev. 1187 and applied the changes
- Added old error code -40 as queue overrun error and renumbered error error frame received from -40 to -19
- Removed unused error code CANERR_ERR_FRAME (note: the error code -19 is marked as reserved)
- Removed flag fdoe and brse from struct can_speed_t (note: the flags are marked as reserved)
- Integrated reworked module can_btr:
  - btr_check_bitrate: if FDOE w/o BRSE then check data phase field acc. OPTION_CANBTR_DATA_FIELDS
  - btr_bitrate2speed: no range checks anymore, calculation is done completely in float
  - btr_bitrate2index: returns the index if an index is given
  - btr_bitrate2string: no range checks anymore
  - btr_sja10002bitrate: set data phase field acc. OPTION_CANBTR_DATA_FIELDS
  - btr_compare_bitrates: comparision on basis of transmission rates (new function)
  - Removed flag fdoe and brse from struct btr_speed_t (standalone variant)
  - Documented all interface functions by Doxygen comments
  - Added header file CANBTR_Defaults.h
  - Reworked the bit-rate string scanner (btr_string2bitrate):
    - Return a flag if any data phase key is found
    - Return a flag if no. samp. key is found
    - Return BTRERR_ILLPARA on error
    - Removed the range checks
    - Set miminum frequency to 1
    - Checked for duplicated keys
    - Accept only case sensitive keys
  - Reworked the bit-rate string printer (btr_bitrate2string):
    - Added a parameter to output data phase keys
    - Added a parameter to output no. samp. key
    - Added a parameter for maximum buffer size
  - Fixed a bug with strtol if a correct value is outside the range of representable values (note: long is 32 bit wide for MS compilers and 64 bit for gcc based compilers!)
- Added property values for transmit queue properties (note: values for filtering have been shifted by 8)
- Fixed a bug with saturation of CAN FD DLC conversion
- Updated description of compiler switches
- Reworked formatting of message flags
Activated suppression of extended frames and remote frames
Activated time-out handling for reading asynchronous pipes
Fixed a bug with terminating the worker thread
Reworked handling of status frames
Added CAN API V3 Tests with GoogleTest (rev. 1205)
Added Rusoku-specific bit-rate defaults
Made the utilities more generic
Updated the Python wrapper
Updated the Swift wrapper
Updated the trial program
Updated the examples

Version 0.2.4 (Commit 46ecb27 of August 5, 2022):

Updated CAN API V3 sources to rev. 1082
Realized new property GET_CAN_CLOCK
Applied changes from module can_btr
Updated CAN API V3 Testing sources to rev. 1084
Fixed a possible bug with USB device name length
Fixed a bug with missing check of the CAN clock frequency (50MHz)
Fixed a bug with tx message flags in the Swift wrapper (SwiftCAN issue #23)
Fixed some findings from static code analysis
Added a scanner for test case annotations
Added @rpath to the library Makefiles

Version 0.2.3 (Commit c1a3633 of February 25, 2022):

Updated MacCAN-Core sources to rev. 1090
Removed class CMacCAN from project (R.I.P.)
Updated CAN API sources to rev. 1036 and applied the changes
Fixed a bug with probing a device when it is used by another process
Fixed a bug with string length of device vendor
Added operations to class CTouCAN to query channel information
Updated the utilities to get the list of channels from library
Moved unit test suites into $(PROJROOT)/Tests/UnitTests
Added cppcheck target to Makefile of the Trial program
Updated the Swift and Python examples

Version 0.2.2 (Commit d93fbfe of December 27, 2021):

Reworked the driver layer (to solve the copy constructor issue #16):
- rename sub-folders in $(PROJROOT)/Sources
- switch CAN API V3 wrapper from C++ to C
- create a lot of new driver layer modules
- prepare the driver to support further devices
- no obvious functional changes
Added a Swift wrapper including SPM configuration
Added two simple Swift examples for sending and receiving CAN frames
Added an Xctest target for CAN API V3 C interface to the trial program
- take over all test suites and test cases from MacCAN-KvaserCAN
- test execution: 131 tests, 6 failed - but false positives
Fixed a testing issue with unsupported acknowledge of transmit messages
Fixed a testing issue with unsupported bit-timing index 1 (800kbps)
Fixed a bug with unchecked device handle
Fixed a bug with missing header file in class CTouCAN
Fixed an omission with forgotten TouCAN specific properties
Fixed a bug with non-boolean return value in a boolean function
Fixed an issue with deprecated function IOMasterPort (first deprecated in macOS 12.0)
Set all Xcode deployment targets to macOS 11.0 (Makefiles still work on OS X 10.13)
Updated the Makefiles to build the artifacts as Universal macOS Binary
Updated my beloved utilities
Updated the C++ examples

Version 0.2.1 (Commit 0b4a139 of June 5, 2021):

Fixed the hibernation issue (issue #11)
Fixed a bug when trying to send a status message
Fixed a bug when the channel number is invalid
Fixed a bug when requested operation mode is not supported
Fixed an out-of-bound violation in companion module can_btr
Fixed some issues from code analysis

Version 0.2 (Commit 52f784a of February 28, 2021):

Worked in the latest changes from MacCAN-Core (SVN rev. 986)
Added a CAN API V3 compatible Python wrapper and two Python examples
Added two simple C++ examples for sending and receiving CAN frames
Weakened the sizeof check while reading numerical properties
Fixed a bug with a locked mutex when device is not present
Fixed a bug with signaling a wait condition
Updated the trial program and the utilities

Version 0.1 SR 1 (Commit e89ac9c of December 30, 2020):

Fixed a bug with looping over the list of registered devices
Fixed a bug with non-dereferenceable void* array
Fixed a bug with SIGNAL_WAIT_CONDITION
Plastic surgery

Version 0.1 (Commit 461df7c of April 19, 2020):

First release of the MacCAN-TouCAN driver

Supported Devices

Only the following devices from Rusoku Technologies are supported:

TouCAN USB (Model F4FS1)

For technical specifications, prices and delivery terms see Rusoku´s website.

Known Bugs and Caveats

For a list of known bugs and caveats see tab Issues in the GitHub repo.

CAN API V3 Reference

A generic documentation of the CAN API V3 application programming interface can be found here.

Dual-License

Except where otherwise noted, this work is dual-licensed under the terms of the BSD 2-Clause “Simplified” License and under the terms of the GNU General Public License v3.0 (or any later version). You can choose between one of them if you use these portions of this work in whole or in part.

Trademarks

Mac and macOS are trademarks of Apple Inc., registered in the U.S. and other countries.
Windows is a registered trademark of Microsoft Corporation in the United States and/or other countries.
Linux is a registered trademark of Linus Torvalds.
All other company, product and service names mentioned herein may be trademarks, registered trademarks, or service marks of their respective owners.

Hazard Note

If you connect your CAN device to a real CAN network when using this library, you might damage your application.

Uwe Vogt, UV Software