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.
• embr::j1939 - Lean, portable J1939 library for embedded MCUs.

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.