Awesome CAN Bus

:tractor: Awesome Tools, Hardware And Resources For CAN Bus

This curated list helps a reverse engineering CAN bus devices with lightly specializing in automotive embedded controller software and communication understanding.

Note Items marked as "🔝" are highly recommended.

Permanent URL to this list: https://github.com/iDoka/awesome-canbus

Contents

• Hacking and Reverse Engineering tools
• Test equipment and simulators
• Protocols
  • OBD-II tools
  • UDS
  • ISO-TP
  • J1939 Tools
  • J2534 Tools
• Utils
  • Common
  • Linux related
  • GUI Tools
  • Python Tools
  • CAN-over-IP
  • Other Utils
  • Libraries
  • Examples
• CAN Database
  • Formats (DBC, KCD)
  • Converters and Parsers
  • DBC only
• Hardware
  • ARM
  • Arduino
  • Espressif Systems (ESP8266, ESP32)
  • SBC
  • Others HW
  • Hardware related tools

Hacking and Reverse Engineering tools

• 🔝CarHackingTools - Collection of Common Car Hacking Tools a scripts collection to help jump start car research and hacking.
• 🔝Caring Caribou - A friendly car security exploration tool for the CAN bus.
• 🔝CAN_Reverse_Engineering - Automated Payload Reverse Engineering Pipeline for the Controller Area Network (CAN) protocol.
• 🔝carhacking - Car hacking scripts and docs collection.
• ReCAN - Reverse engineering of Controller Area Networks.
• parse_can_logs - Parse CAN logs and visualize data streams on plot.
• reversegear - Offline Reverse Engineering Tools for Automotive Networks.
• 🔝CANalyzat0r - Security analysis toolkit for proprietary car protocols.
• 🔝CANToolz - Black-box CAN network analysis framework.

• GVRET - Generalized Electric Vehicle Reverse Engineering Tool (Arduino FW).

• UDSim - Unified Diagnostic Services Simulator and Fuzzer (successor of uds-server).
• uds-server - CAN UDS Simulator and Fuzzer.
• CANalyse - A vehicle network analysis and attack tool.
• canhack - A low-level CAN protocol hacking library.
• canDrive - Tools for hacking your car.
• Carpunk - CAN injection toolkit and successor of CANghost.
• CANghost - Automated Script For Hacking Into CAN Bus.
• canTot - Quick and dirty canbus h4xing framework.
• CANanalyze - This framework can be used to interact with automotive protocols like CAN/ISOTP/UDS.
• Scapy - Python-based interactive packet manipulation program & library. Supports CAN/ISOTP/UDS/GMLAN plus many other protocols.
• CAN-RE-Tool - Reverse engineering tool for systems based on CAN bus communications.
• 🔝can-explorer - A CAN bus visualization tool to aid in reverse engineering.

Test equipment and simulators

• ECU-simulator - Tool that simulates some vehicle diagnostic services. It can be used to test OBD-II dongles or tester tools that support the UDS (ISO 14229) and ISO-TP (ISO 15765-2) protocols.
• ELM327-emulator - ELM327 Emulator for testing software interfacing OBDII via ELM327 adapter supporting multi-ECU simulation.

Protocols

OBD-II tools

• DDT4All - Tool to create your own ECU parameters screens and connect to a CAN network with a cheap ELM327 interface.
• ELM327SLCAN - ELM327 based vehicle's CAN bus sniffer.
• Arduino-OBD2-Async - Arduino OBD library with asynchronous data requesting.
• CAN-Shark - Working with OBD PIDs from Arduino + MCP2515 shield.
• OBD2-Scantool - A python scantool to read OBD2 info from cars.
• O2OO - OBD-II compliant car diagnostic tool. It reads sensor data from a car into an sqlite database.
• freediag - Free diagnostic software for OBD-II compliant motor vehicles.
• pyvit - Python Vehicle Interface Toolkit (archived).

UDS

ISO 14229 Standard

• python-UDSonCAN - Python implementation of UDS ISO-14229 standard.
• uds-c - Unified Diagnostics Service (UDS) and OBD-II C Library.
• iso14229 - C implementation of UDS ISO-14229 server and client for embedded systems.

ISO-TP

ISO 15765-2 Standard

• isotp-c - An implementation of the ISO-TP (ISO15765-2) CAN protocol in C.
• python-can-IsoTP - Python implementation of the ISO-TP (ISO15765-2) CAN protocol.
• CanTp - Implementation of the CanTp module (ISO 15765-2), according to AUTOSAR specification v4.4.0.
• aioisotp - ISO-TP implemenation for asyncio Python.

J1939 Tools

SAE J1939 Standard

• J1939-CANBUS - Supported Engines CAT, Perkins, Wartsalla, MTU, VOLVO.
• J1939-Framework - Framework to work with J1939 Frames used in CAN bus in bus, car and trucks industries.
• python-j1939 - SAE J1939 support dependent on python-can package. Provides codec and filtering by PGN but not full SPN decoding.
• can-utils with J1939 support - Fork of can-utils with a few additional tools for J1939.
• test-can-j1939 - How to use CAN J1939 on linux.
• libj1939 - Library to work with J1939 Frames (intended to be used in microcontrollers).
• Pretty-J1939 - Python libs and scripts for pretty-printing J1939 logs.
• TruckDevil - A tool and framework for interacting with and assessing ECUs that use J1939 for communications on the CANBUS.
• python-can-j1939 - Package provides SAE J1939 support for Python developers.
• Open-SAE-J1939 - SAE J1939 protocol free to use for embedded systems or PC with CAN-bus.

J2534 Tools

SAE J2534 Standard

• JCanalog - Easy To Use J2534 Vehicle Logger (left for history).

• j2534-tcp - Virtual J2534 driver over TCP/IP.
• SharpWrap2534 - The Ultimate J2534 Wrapper Suite.
• gocanflasher - Trionic 5/7/8 CANbus flasher with J2534 support.

Utils

Common

• 🔝cantools - Collection of CLI tools for the CAN bus network.
• BUSMASTER - An Open Source Software tool to simulate, analyze and test data bus systems such as CAN.
• signalbroker-server - Tool to read and write CAN/LIN/flexray and other buses using gRPC which allows usage of preferred language.
• CANiBUS - CAN Device Vehicle Research Server (OpenGarages.org).

Linux related

• 🔝Linux CAN Utils - Linux-CAN / SocketCAN user space useful utils.
• CAN support in Linux - Linux kernel support for CAN hardware interfaces.
• SocketCAN - Linux kernel support (kernel >= 2.6).
• J1939 - Linux kernel support (kernel >= 5.4) also see can-j1939 kernel module.
• elmcan - Linux SocketCAN kernel driver for ELM327 based devices (kernel >= 6.0).
• can-isotp - Linux Kernel Module for ISO 15765-2:2016 CAN transport protocol (part of the Linux kernel >= 5.10).
• gs_usb - Linux/Windows CAN driver based on WCID for Geschwister Schneider USB/CAN devices and candleLight USB CAN interfaces.

GUI Tools

• CANdevStudio from GENIVI - CAN simulation software using a drag-and-drop style GUI with interconnected functional blocks.
• CANAL-View - Qt GUI for TouCAN USB to CAN bus converter.
• wxCAN-Sniffer - CAN bus sniffer (PC side) with animation and chart.
• CANLogger - CAN bus logger and analyzer tool.
• Seeed-USB-CAN-Analyzer - Closed source binary for noname Chinese USB-CAN adapter.
• CANtact-app - Desktop application for CANtact hardware interface.
• SavvyCAN - Cross-platform Qt based GUI analysis tool. Supports SocketCAN compatible interfaces.
• openCanSuite - Set of tools for analyzing, simulating and visualizing a CAN system.
• Plotter and Scanner from SmartGauges - Scanning and visualizing tool for automotive systems.
• ICSim - Instrument Cluster Simulator for SocketCAN by OpenGarages.
• CANgaroo - Qt-based CAN bus analyzer software.
• CAN-X - C# CAN bus analyzer software.
• CAN-Monitor-qt - Universal CAN bus monitoring program.
• CANBUS-Analyzer - Development tool/companion software for graphs, displays and analyzes both known and unknown CANBUS packets.
• SLSS-CANAnalyser - SLSS CANAnalyser is Windows CAN-Bus-Analysis-Software to show, record and evaluate CAN-Bus signals.
• TSMaster - Powerful open environment for automotive bus monitoring, simulation, testing, diagnostics, calibration and so on (Closed source).
• CAN++ - Windows program for receiving and transmitting CAN bus messages. After import of CAN data base files (*.dbc or *.kcd) CAN signals are shown in symbolic form. In addition they can be shown as graphics (wave forms).
• CANcool - CAN bus Analyser and Simulation Software with CAN-FD support.
• Kayak - Java-based CAN traffic GUI analysis tool (archived).
• PlotJuggler - The Powerful Time Series Visualization Tool (With panda hardware, cabana and plotjuggler, you can quickly RE the entire car in a few days).
• PlotJuggler::CAN-dbs - Plugin to visualize CAN .dbs (or .dbc?) files in PlotJuggler.
• OpenSourceLogger - Data acquisition software that can collect measurement, analyze CAN-messages and send SAE-J1939 messages to other ECUs.

Python Tools

• 🔝cantools - CAN BUS tools in Python.

• 🔝python-can - CAN package provides controller area network support for Python developers.

• strym - Real time CAN data logging and visualization tool to work with USB-CAN Interface.
• canviewer - GUI program that allows the inspection of incoming can-bus messages, either from recorder can-bus data or live data.

• can4python - A package for handling CAN bus signals on Linux SocketCAN.

• Python-Vector-CANoe - Control Vector CANoe API by Python.
• CanCat - Swiss army knife of CAN often used in cars and building automation, etc.
• Pyfuzz_can - May be used in research to inject messages into a truck and cause acceleration, cluster spoofing, and degrade brake performance.
• Robotell-USB-CAN-Python - Python program for Robotell USB-CAN Adapter.
• python-socketcan-monitor - Script to display data from a CAN bus over network interfaces.
• CanoPy - A python gui used to visualize and plot message payloads in real time.
• PythonVectorXL - Complete python ctypes wrapper lib for the Vector XL Driver Library. Contains the #define instructions, struct/union typdef instructions and function definitions (loads the DLL as well) of the 'vxlapi.h' (Windows only). Inspired by python-can.
• py4can - Python utility to send and receive CAN messages through CANalyzer.

CAN-over-IP

• cannelloni - SocketCAN over Ethernet tunnel.
• tincan - Visualization of CAN bus traffic via UDP interface.
• pican - TCP CAN reader.
• canny - Simple CAN-over-IP gateway.

Other Utils

• Seeed-USB-CAN-Linux - CLI Linux Support for noname Chinese USB-CAN adapter.
• opendlv-device-can-replay - OpenDLV Microservice to replay captured CAN frames to a CAN interface.
• c0f - CAN bus fingerprinting tool is designed to analyze CAN bus traffic and fingerprint the Maker and Model.
• canqv - Quick CAN frame inspection using CAN_RAW.
• Candle.NET - .NET wrapper for the Candle API for candlelight CAN bus gateways/analysers (e.g. CANable, CANtact, etc).
• canSerializer - Lib for serializing and deserializing CAN frames for transmission over a non CAN transport layer (Can be used to transport CAN frames over UART, SPI, etc).

Libraries

• libwecan - Header only lib to encode and decode CAN signal.
• VCAN - A tiny virtual CAN and CAN-FD bus library in C.
• IMCTFD - Improved Microchip CAN Teensy FlexData Library MCP2517FD.
• go-socketcan - Golang library for SocketCAN.
• Qt CAN Bus - A multiplatform C++ plugin based library with support for various CAN Devices (SocketCAN, Sys Tec, PEAK, Virtual).
• JavaCAN - A Java binding library for SocketCAN with support for RAW, BCM and ISO-TP sockets using epoll-based event-driven IO.
• iso15765-canbus - Implementation of ISO15765-2 in C.

Examples

• CAN-Examples - Example C code for CAN Sockets on Linux.
• socketcan-demo - Set of example programs which highlight how to make use of SocketCAN on Linux.

CAN Database

Formats (DBC, KCD)

DBC

DBC - The de facto standard for CAN databases is the DBC file format developed by Vector Informatik GmbH. It is a proprietary format in that no official public documentation or specification is available.

• DBC Format Specification v1.0 - Leaked DBC file format specification v1.0 (the obsolete specification).
• DBC Format - Brief explanations about various sections, many examples and explains multiplexed signals well.
• DBC File Explained - A Simple Intro to DCB file format.
• J1939 and DBC introduction - An Introduction to J1939 and DBC files.
• 🔝cabana - CAN visualizer and DBC maker (a tool developed to view raw CAN data; one use for this is creating and editing CAN Dictionaries (DBC files)).

KCD

• KCD - An open format to describe communication relationships in CAN. similar to DBC format but written in XML.

Converters and Parsers

• 🔝cantools by Erik Moqvist - CAN tools in python for DBC, KCD, SYM, ARXML 4 and CDD file parsing.
• cantools by Andreas Heitmann - A set of libraries and command line tools for handling ASC, BLF, CLG, VSB, MDF, and DBC files.
• CanDB - Generate CAN dbc file with OEM defined CAN matrix (xls).
• canmatrix - Converting CAN Database Formats .arxml .dbc .dbf .kcd.
• CANBabel - Translator for several CAN description formats (supports KCD r/w and DBC read).

• can4python - A useful package for showing the contents of KCD files (also those converted from DBC files).

• dbcc - DBC to C (and CSV, JSON and XML) compiler using the mpc parser combinator library.
• convert_dbc_to_cpp_file - Util for convert dbc (canbus) to cpp(cplusplus) function.

DBC only

• Vector DBC - Library to access CAN Databases (aka CANdb, aka DBC files) from Vector Informatik.
• dbcppp - C/C++ DBC file parser/tool.
• can_decoder - API module for decoding raw CAN bus data to physical values using a DBC CAN database.
• CANdb from GENIVI - Library for parsing DBC - CAN bus database description formats.
• dbc-parser - A Flex/Bison/Lemon parser/scanner for DBC files.
• Vector CANdb++ DBC file parser - Modified version of the dbc file parser of eerimoq.
• dbc_reader - Virtual can bus reader from dbc file (python).
• CAN_BUS_DBC_VIEWER - GUI based CAN bus dbc viewer.
• dbcview - DBC visualization tool - plots a graph of sending and receiving nodes linked by messages.
• VectorDbcChecker - Vector DBC Checker a Python GUI application for checking DBC files for messages duplication, missed network nodes, signals overlap in message, etc.
• pydbc - AST generator for dbc format.
• pydbc - Process vehicle network descriptions (CAN .dbc files).

Hardware

All kind of HW like CAN bus USB2CAN dongles, loggers, sniffers, adapters, etc.

ARM

• USB_CAN-FD on ATSAME51 - This is an Open Source Hardware USB to CAN-FD Interface (ATSAME51J).
• SuperCAN - An open source USB to CAN-FD protocol firmware (ATSAME51).
• FlexCAN - Arduino library for CAN on Teensy 3.1, 3.2, 3.5, and 3.6.
• ELM327 - Open-source ELM327 OBD adapter based on LPC1517JDB48.
• Open-OBD2-datalogger - NXP Kinetis E datalogger that saves live engine data to SD card (Visualization is done with HTML5 and JavaScript).
• CANBootloader - GUI + CAN booloader protocol.

STM32

• 🔝panda - It supports 3x CAN, 2x LIN, and 1x GMLAN (and it has J2534 over USB on host side). It uses an STM32F413 (Using a panda with cabana provides the best RE and development suites for CANBUS).
• 🔝STM32duino_CAN_Library - CanBus library for STM32F103 running on STM32duino.
• 🔝pcan_pro_x - PEAK PCAN PRO/PRO FD firmware for STM32F4 based boards.
• CANnon - A versatile CAN bootloader for the STM32 and friends.
• hadoucan-fw on STM32H750 - Firmware for SM-1301 USB-CAN FD adapter based on.
• CANCAN - CAN recorder based on STM32F407ZGTx.
• stm32-CAN-bus-example-HAL-API - A simple example of CAN bus communications between two STM32 microcontrollers using the updated HAL API functions.
• CAN-to-USB-lawicel-for-stm32 - CAN to USB adapter using Lawicel/Canhacker protocol based on STM32F103.
• stm32-slcan - SLCAN compatible firmware for BluePill based on STM32f103C8T6.
• cantact-pro-hw - Hardware for the CANtact Pro, use cantact-pro-fw as firmware.
• STM32-CAN-Busadapter - CAN adapter on MCU stm32f303cb.
• Ethernet-CAN converter - Based on STM32F407.
• CANBUS_UART - CANBUS to UART for STM32F1 (BluePill and Nucleo boards).
• Arduino-STM32-CAN - Can communication example for Arduino Core STM32.
• eXoCAN - CAN Library for the STM32F103 aka Blue Pill.
• CAN-BUS-Man-In-The-Middle - Dual CAN MitM-device based on STM32F105.
• CAN-Bus-Arduino_Core_STM32 - Lowlevel CanBUS Example for Arduino Core STM32.
• BudgetCANv2 - FW for use on STM32 microcontroller to implement FDCAN and USB using the STM32 HAL. Tested on BudgetCANv2-HW.
• CanDybugFW - Embedded firmware of the CanDybug, a CAN bus traffic analyzer which uses a custom protocol over a USB serial port emulation (STM32F302/STM32F042).
• CAN-USB-dongle-fw - A slcan firmware for the CVRA CAN to USB dongle (STM32F302).
• zubax_babel - High performance CAN-USB/CAN-UART adapter + UAVCAN devboard (STM32F37x).
• CAN-RS485-adapter - CAN-RS485 Adapter (STM32F103).
• vector_can - Vector VN1610 protocol implementation for cheap STM32F407/405 hardware (Two CAN channel).
• CAN_OMEGA - Ultimate CAN Bus hardware for Car hacking based on STM32F411. Full Featured firmware & software.

STM32F0x2 based HW

• candleLight_fw - Compatible firmware for candleLight, cantact, canable, CANAlyze, VulCAN.
• CANsniffer on STM32F042 - CANbus sniffer less complicated than existing commercial products.
• candleLight - KiCAD project of usb-can adapter based on STM32F0.
• cantact-hw - Hardware design files for the CANtact tool, use cantact-fw as firmware source.
• cantact - Drivers and Command Line Interface for CANtact tools.
• USB2CAN - Compact and isolated USB-to-CAN Adapter.
• CANAlyze - An open source, native CAN interface for Linux that can be built entirely using open source tools, use canalyze-fw as firmware source.
• Cantact FW - Cantact FirmWare by x893.
• ELM329 - Open-source ELM329 OBD adapter based on STM32F042.
• OBD2CAN - Bridge between any OBD2 compliant vehicle and the CAN bus interface (firmware is targeted for the STM32F072, and uses ChibiOS as a RTOS).
• pcan_cantact - XCAN firmware for CANtact ( CANable ) or any other similar boards based on STM32F042.
• kvaser_cantact - Xvaser LL v2 firmware for CANtact/CANable or any other similar boards based on STM32F042.

Arduino

• 🔝arduino-canhacker - CanHacker (lawicel) CAN adapter on Arduino + MCP2515.
• open-usb-can from Fabio Baltieri - CAN-to-USB dongle based on ATMega32U and MCP2515.
• Arduino-CAN-bus-SD-logger - Arduino script to log CAN bus information to SD card. Mainly focused on J1939.
• Arduino-canbus-monitor - Can bus monitoring tool based on arduino and can bus shield. Implements CAN ASCII/SLCAN protocol compatible with Lawicel CAN232/CANUSB.
• Arduino-psa-comfort-can-adapter - Arduino sketch to operate new PSA (Peugeot, Citroen, DS, Opel) comfort devices (CAN2010) on old BSI CAN-BUS (CAN2004).
• epasuino - Arduino based Speed sensitive electric power steering for automobiles Speed sensitive electric power steering for automobiles.
• carfuino - Arduino based Automotive performance computer with Megasquirt integration.
• W203-canbus - Arduino project for W211/W219 W203/W209 Mercedes (bluetooth audio control and more).
• CANBus-Triple - The car hacking platform based on AVR and MCP2515 works with this firmware.

• GVRET - Generalized Electric Vehicle Reverse Engineering Tool (Arduino FW).

• open-source-can-bridge - Gateway with several CAN interfaces based on Xmega.
• arduino-mcp2515 - Arduino MCP2515 CAN interface library.
• slcanuino - USB-CAN (SocketCAN) sketch for Arduino CAN-BUS shield.
• CITM02 - CAN In The Middle (CITM) the Dual channel CANBUS adapter built around Arduino.
• arduino-OBD2 - Arduino library for reading OBD-II data from your car over CAN bus.
• arduino-ecu-logger - Arduino-based OBD2 engine monitor and data logger.

Espressif Systems (ESP8266, ESP32)

• ESP-IDF-CANBus-Monitor - Monitor Canbus traffic ESP32.
• connected-car - Connecting a Nissan e-NV200 (or Leaf) to MQTT.
• PSASteeringWheelAdapter - ESP32 based steering wheel adapter for Peugeot and Citroen cars.

• esp32-slcan - ESP32 slcan compatible device.
• esp32s3-slcan - SLCAN implementation for ESP32-S3 (based on esp32-slcan).

• ESP32-Arduino-CAN - Arduino CAN-Bus library for ESP32.
• ESP32_CAN_Interface - Wireless CAN-Interface for the ESP32 which uses the cannelloni protocol to send CAN-Frames via UDP over an Wi-Fi tunnel.
• esp32_canbus_gateway - CAN module on esp32 + tja1050 coded on micropython.
• esp32-cantroller - ESP32-S2-WROVER/WROOM based CANBUS controller thingy.
• esp32-canbus-logger - CAN bus logger on uSD-card based on ESP32.
• 🔝ESP32_CANViewer - ESP32 based CAN interface for your webbrowser.
• esp-idf-can2http - CANbus to http bridge using ESP32.
• esp32-obd2-emulator - Open-source OBD-II emulator based on an ESP32 + CAN transceiver IC, controllable via WiFi through a simple web UI (or via API).
• ESP32RET - CAN Reverse engineering tool for ESP32 based boards (unmaintained).
• ESP32S3RET - CAN Reverse engineering tool for ESP32-S3 based boards.
• esp32_obd2 - Simplified OBD2 layer to run on top of the esp32_can library that supports the newer ESP32-S3 (Arduino library).
• ESP32_OBD2_Emulator - Simple OBD2 car emulator which runs on ESP32-S3 (replies to all OBD2 requests with dummy data).
• RejsaCAN-ESP32 - ESP32-S3 board with CAN interface.
• RejsaCAN-ESP32-C6 - Example code that is tested and runs on the new ESP32-C6 that has TWO built in CAN controllers.

SBC

SBC - Single Board Computers.

• beaglebone_black_socketcan - How to get access to the CAN bus on a BeagleBone Black via socketcan interface.
• rpi-can-logger - Project to log CAN bus data from a PiCAN2 and a GPS module.
• CANoPi - CAN interface for Raspberry Pi Zero.

Others HW

• Michrochip CAN BUS Analyzer on PIC18F2550/PIC18F2680 Firmware - Michrochip CAN BUS Analyzer firmware.
• Michrochip CAN BUS Analyzer on PIC18F2550/PIC18F2680 Driver - Linux kernel driver for Microchip CAN BUS Analyzer Tool.
• BB-to-STM32 - LED sync between BeagleBone Black and STM32F4 Discovery Board.
• elm327_clone - ELM327 firmware for pic18f25k80 chip from china clone OBD2.

Hardware related tools

• CAN Bus Bit Timing Calculator - Online tool for obsolete SJA1000 and MCP2510 (probably it works for MCP2515).
• STM8S208 CAN Speed Calculator - CAN Speed Calculator for STM8 (perhaps it also works for STM32 family).

---

Contributing

• Your contributions are always welcome! Please read the contribution guidelines first.

Footnotes

1. Please follow this root-repo for lastest updates.
2. The another awesome list :arrow_forward: CAN ID collections :arrow_backward: also might be useful.
3. Also might be useful this curated list of awesome tools and resources for LIN bus reverse engineering, LIN hardware development and debugging.