A project I am on uses CAN, so I am experimenting with software tools. This python repository has been helpful for experimenting and prototyping, because it implements the SAE j1939 protocol: GitHub - benkfra/j1939: SAE J1939 for Python. It is built on top of python-can and can use the SocketCAN API built in to Linux. There is also a j1939 tool included in new kernel versions: J1939 Documentation — The Linux Kernel documentation
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