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Source: examples/c/README.md

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C ABI Examples

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Channel Compatibility (PCAN + slcan + CAN-FD + Damiao Serial Bridge)

  • Linux SocketCAN uses interface names directly: can0, can1, slcan0.
  • For USB-serial CAN adapters, bring up slcan0 first: sudo slcand -o -c -s8 /dev/ttyUSB0 slcan0 && sudo ip link set slcan0 up.
  • Hexfellow examples require CAN-FD path (motor_controller_new_socketcanfd(...) / CLI --transport socketcanfd).
  • Damiao-only serial bridge transport is also available in CLI (--transport dm-serial --serial-port /dev/ttyACM0 --serial-baud 921600).
  • Full Damiao serial-bridge interface list and command patterns are documented in motor_cli/README.md (section 3.6 in motor_cli/README.zh-CN.md).
  • On Linux SocketCAN, do not append bitrate in --channel (for example can0@1000000 is invalid).
  • On Windows (PCAN backend), can0/can1 map to PCAN_USBBUS1/2; optional @bitrate suffix is supported.
Direct C demos for motor_abi.
Chinese version: README.zh-CN.md

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Files

  • c_abi_demo.c: unified demo for Damiao + RobStride
  • hexfellow_canfd_demo.c: Hexfellow CAN-FD demo (mit / pos-vel only)
Vendor coverage:
  • Damiao: enable, disable, mit, pos-vel, vel, force-pos
  • RobStride: ping, enable, disable, mit, pos-vel, vel, read-param, write-param
    • note: torque/current is parameter-level only (write-param on iq_ref/limits), not a unified high-level mode
  • Hexfellow (CAN-FD only): mit, pos-vel

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Build

cargo build -p motor_abi --release
cc examples/c/c_abi_demo.c -I motor_abi/include -L target/release -lmotor_abi -o c_abi_demo
cc examples/c/hexfellow_canfd_demo.c -I motor_abi/include -L target/release -lmotor_abi -o hexfellow_canfd_demo
LD_LIBRARY_PATH=target/release ./c_abi_demo --help

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Examples

Damiao MIT: 
LD_LIBRARY_PATH=target/release ./c_abi_demo \
  --vendor damiao --channel can0 --model 4340P --motor-id 0x01 --feedback-id 0x11 \
  --mode mit --pos 0 --vel 0 --kp 20 --kd 1 --tau 0 --loop 50 --dt-ms 20
RobStride ping: 
LD_LIBRARY_PATH=target/release ./c_abi_demo \
  --vendor robstride --channel can0 --model rs-06 --motor-id 127 --mode ping
RobStride read position parameter: 
LD_LIBRARY_PATH=target/release ./c_abi_demo \
  --vendor robstride --channel can0 --model rs-06 --motor-id 127 \
  --mode read-param --param-id 0x7019 --param-type f32
The examples use rs-06 only as a sample model. Use the RS model you use for limits/logging; runtime parameter IDs and types come from the common section 4 table. RobStride low-gain MIT: 
LD_LIBRARY_PATH=target/release ./c_abi_demo \
  --vendor robstride --channel can0 --model rs-00 --motor-id 2 \
  --mode mit --pos 0.5 --vel 0 --kp 20.0 --kd 0.5 --tau 0 --loop 100 --dt-ms 20
Hexfellow (CAN-FD only): 
LD_LIBRARY_PATH=target/release ./hexfellow_canfd_demo \
  --channel can0 --motor-id 0x01 --feedback-id 0x00 --mode mit --loop 20 --dt-ms 50