int start_can() 
{
	ret = nb_can_setattr(DEV, BITRATE, LISTENONLY, RESTART_TIMEOUT);
	if (ret != 0) {
    		printf("Unable to set attributes of %s\n", DEV);
    		exit(1);
	}
	printf("Attributes set for device %s\n", DEV);
	can_sock = nb_can_open(DEV);
	if ( can_sock < 0){
		printf("Unable to open %s\n", DEV);
		exit(1);
	}
	// CAN Filtering can be done here
	if (0) {
    		FILTER_ID = 1;
    		FILTER_MASK = 0xFFFFFFFF;

    		if (nb_can_setfilter(sock, FILTER_ID, FILTER_MASK) < 0) {
        			printf("Unable to set filter on %s\n", DEV);
        			can_close(can_sock);
        			exit(1);
    		}
	}
	return can_sock;
}