+
+### Using CAN utils to monitor CAN activity
+
+You can watch CAN traffic and send custom CAN messages using can-utils preinstalled on AGL target.
+
+To watch watch going on a CAN bus use:
+
+```bash
+# candump can0
+```
+
+Or for an USB CAN adapter connected to porter board:
+
+```bash
+# candump can1
+```
+
+Send a custom message:
+
+```bash
+# cansend can0 ID#DDDDAAAATTTTAAAA
+```
+
+You can also replay a previously dumped CAN logfiles. These logfiles can be found in _can_samples_ directory under Git repository. Following examples use a real trip from an Auris Toyota car.
+
+Trace has been recorded from a CAN device `can0` so you have to map it to the correct one you use for your tests.
+
+Replay on a virtual CAN device `vcan0`:
+```bash
+# canplayer -I trip_test_with_obd2_vehicle_speed_requests vcan0=can0
+```
+
+Replay on a CAN device `can0`:
+```bash
+# canplayer -I trip_test_with_obd2_vehicle_speed_requests can0
+```
+
+Replay on a CAN device `can1` (porter by example):
+```bash
+# canplayer -I trip_test_with_obd2_vehicle_speed_requests can1=can0
+```