libsocketcan
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This library allows you to control some basic functions in SocketCAN from
userspace.

Dependencies:
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A recent kernel with integrated SocketCAN (at least 2.6.30)

Building:
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Please refer to the INSTALL file

Documentation:
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Make sure you have Doxygen installed on your host. If yes simply run:
make docs
and look for the API doc in Documentation/html.