### How to use:
```rust
use can_type_rs::frame::Frame;
use can_type_rs::identifier::Id;
use zlgcan_common::can::{CanChlCfgExt, CanChlCfgFactory, ZCanChlMode, ZCanChlType, CanMessage};
use zlgcan_common::device::ZCanDeviceType;
use zlgcan_common::error::ZCanError;
use zlgcan_driver::driver::{ZCanDriver, ZDevice};

#[test]
fn main() -> anyhow::Result<()> {
    let dev_type = ZCanDeviceType::ZCAN_USBCANFD_200U;
    let dev_idx = 0;

    // Create driver instance
    let mut driver = ZCanDriver::new(dev_type as u32, dev_idx, None)?;

    // Open device
    driver.open()?;

    // Get device info and assert some information
    let dev_info = driver.device_info()?;
    assert_eq!(dev_info.can_channels(), 2);
    assert_eq!(dev_info.canfd(), true);

    // Create channel configuration factory
    let factory = CanChlCfgFactory::new()?;
    let ch1_cfg = factory.new_can_chl_cfg(dev_type as u32, ZCanChlType::CANFD_ISO as u8, ZCanChlMode::Normal as u8, 500_000,
                                          CanChlCfgExt::new(None, Some(1_000_000), None, None, None, None))?;
    let ch2_cfg = factory.new_can_chl_cfg(dev_type as u32, ZCanChlType::CANFD_ISO as u8, ZCanChlMode::Normal as u8, 500_000,
                                          CanChlCfgExt::new(None, Some(1_000_000), None, None, None, None))?;
    let cfg = vec![ch1_cfg, ch2_cfg];

    // intialize channels
    driver.init_can_chl(cfg)?;

    // Create CANFD frame
    let mut msg = CanMessage::new(
        Id::from_bits(0x7df, false), [0x01, 0x02, 0x03, 0x04, 0x05].as_slice()
    )
        .ok_or(ZCanError::Other("invalid data length".to_string()))?;
    msg.set_can_fd(true);
    let frames = vec![msg];

    // Transmit frame
    let ret = driver.transmit_canfd(0, frames)?;
    assert_eq!(ret, 1);

    driver.close();

    Ok(())
}

```

### How to test
  * Enter `driver/tests` folder. Select test file by your device type.
  * If the channels of device is less than 2:
    * Connect another CAN device with you device's channel for a monitor.
    * Then run the selected testcase.
    * When see receive frame from the monitor, then send frame by the monitor device.
    * It means pass when the testcase exited without any panic.
  * If the channels of device is rather than 2:
    * Connected the channels 0 and 1.
    * Then run the selected testcase.
    * It means pass when the testcase exited without any panic.
  * All testcase will output the send and received debug info.

### The tested device list(include `windows` and `linux`):
  * USBCAN1 (include office device and deriving device)
  * USBCAN2 (only deriving device)
  * USBCANFD-200U
  * USBCANFD-400U (without supporting channel 3 and 4)

### LICENSE
  * GNU LESSER GENERAL PUBLIC LICENSE V3