�� A curated list of awesome tools, hardware and resources for CAN bus

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

URL: https://github.com/iDoka/awesome-canbus

Contents

• Hacking and Reverse Engineering tools

• Utils

  • Common
  • GUI Tools
  • Python Tools
  • UDS
  • ISO-TP
  • CAN-over-IP
  • OBD-II tools
  • J1939 Tools
  • J2534 Tools
  • Other Utils
  • Libraries
  • Examples

• CAN Databases

  • Formats
    • DBC
    • KCD
  • Converters and Parsers
  • DBC only

• Hardware

  • ARM
  • Arduino
  • ESP
  • SBC
  • Others

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
• UDSim - Unified Diagnostic Services Simulator and Fuzzer
• GVRET - Generalized Electric Vehicle Reverse Engineering Tool (Arduino FW)
• 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
• CANghost - automated Script For Hacking Into CAN Bus

Utils

Common

• Linux CAN Utils - Linux-CAN / SocketCAN user space useful utils
• 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)

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
• Seeeed-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.
• Kayak - Java-based CAN traffic GUI analysis tool
• 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 - [closed source] powerful open environment for automotive bus monitoring, simulation, testing, diagnostics, calibration and so on
• 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

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. Useful for showing the contents of KCD files (also those converted from DBC files)
• 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.

UDS

• python-UDSonCAN - Python implementation of UDS ISO-14229 standard
• uds-c - Unified Diagnostics Service (UDS) and OBD-II C Library

ISO-TP

• isotp-c - An implementation of the ISO-TP (ISO15765-2) CAN protocol in C

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
• python-socketcan-monitor - script to display data from a CAN bus over network interfaces

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
• pyvit - Python Vehicle Interface Toolkit
• 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

J1939 Tools

• 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

J2534 Tools

• JCanalog - Easy To Use J2534 Vehicle Logger
• j2534-tcp - Virtual J2534 driver over TCP/IP

Other Utils

• Seeeed-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
• python-can - the can package provides controller area network support for Python developers
• 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
• isotp-c - An implementation of the ISO-TP (ISO 15765-2) Support Library 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 Databases

Formats

DBC

• 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
• An Introduction to J1939 and 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)

Hardware

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

ARM

• CanDybugFW - Embedded firmware of the CanDybug, a CAN bus traffic analyzer which uses a custom protocol over a USB serial port emulation
• CAN-USB-dongle-fw - slcan firmware for the CVRA CAN to USB dongle
• pcan_cantact - PCAN firmware for CANtact ( CANable ) or any other similar boards
• pcan_pro_x - PEAK PCAN PRO/PRO FD firmware for STM32F4 based boards
• hadoucan-fw on STM32H750 - Firmware for SM-1301 USB-CAN FD adapter based on
• CANnon - A versatile CAN bootloader for the STM32 and friends
• USB_CAN-FD on ATSAME51 - This is an Open Source Hardware USB to CAN-FD Interface
• SuperCAN - An open source USB to CAN-FD protocol firmware for ATSAME51
• zubax_babel - High performance CAN-USB/CAN-UART adapter + UAVCAN devboard
• cantact-pro-hw - Hardware for the CANtact Pro, use cantact-pro-fw as firmware
• FlexCAN - Arduino library for CAN on Teensy 3.1, 3.2, 3.5, and 3.6
• BudgetCANv2 - FW for use on STM32G4 microcontroller to implement FDCAN and USB using the STM32 HAL. Tested on BudgetCANv2-HW
• 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
• CAN-RS485-adapter
• STM32-CAN-Busadapter - CAN adapter on MCU stm32f303cb
• Ethernet-CAN converter - based on STM32F407
• CANBootloader - GUI + CAN booloader protocol
• ELM327 - Open-source ELM327 OBD adapter based on LPC1517JDB48
• stm32-CAN-bus-example-HAL-API - A simple example of CAN bus communications between two STM32 microcontrollers using the updated HAL API functions
• CANCAN - CAN recorder based on STM32F407ZGTx
• 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
• STM32duino_CAN_Library - CanBus library for STM32F103 running on STM32duino
• CANBUS_UART - CANBUS to UART for STM32F1 (BluePill and Nucleo boards)

STM32F042x 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 by x893
• ELM329 - Open-source ELM329 OBD adapter 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

ESP

• 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
• ESP32-Arduino-CAN - Arduino CAN-Bus library for ESP32
• ESP32RET - CAN Reverse engineering tool for ESP32 based boards
• 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

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

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)

etc

Follow this root-repo for lastest updates: https://github.com/iDoka/awesome-canbus

Tags

#awesome#awesome-list#can#can-bus#canbus#canfd#can-fd#logger#sniffer#slcan#socketcan#car-hacking#bus-monitoring#lawicel#elm327#obd2#canutils#automotive#embedded#arduino#rpi#raspberry-pi#sae#uds#j1962#j1939#j1979#j2534#lin#lin-bus#local-interconnect-network#flexray#obd-ii#slcan-protocol#usbtin#usb2can#iso11898#iso11565#iso11765#iso14229#dbc#odb#ldf#electric-vehicles#vehicular-networks#python#automotive-security