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I'm trying to design an application that involves communicating over a CAN bus with the XCP standard protocol. The API should expose methods mapping directly to supported XCP commands, e.g. xcpProgramStart() > PROGRAM_START (0xD2). Calling these methods should output the corresponding CAN messages for a preconfigured CAN ID, e.g. 

0005 8 D2 00 00 00 00 00 00 00

It doesn't seem like such a thing would be too difficult to implement, but I wanted to check if it's already been done. Nothing ruins the satisfaction of good work like knowing it was needless.

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Did you check this early implementation? https://hackage.haskell.org/package/xcp

It's written in haskell and uses Ethernet on the physical layer. But the core module seems to be quite similar to what you requested.

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