vision-anti-pinch/third_party/zlg/README.md

USBCANFD SDK

zcan.h and the runtime libraries in orin/lib/ were copied unchanged from the user-specified reference project /home/orin/vision-anti-pinch on 2026-09-24. The runtime libraries are aarch64 libusbcanfd.so (SONAME libusbcanfd.so.1.0.12) and libusb-1.0.so (SONAME libusb-1.0.so.0). Symlinks retain these SONAMEs in the standalone package.

src/can_bus.cpp uses the reference device type and 500 kbps / 2 Mbps initialization settings. It implements one merged receive worker, per-channel state, explicit data-frame transmission, and lifecycle cleanup instead of importing the reference global callback/receive-thread implementation.