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awesome-canbus

:articulated_lorry: Awesome CAN bus tools, hardware and resources for Cyber Security Researchers, Reverse Engineers, and Automotive Electronics Enthusiasts.
https://github.com/iDoka/awesome-canbus

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  • Protocols

    • OBD-II tools

      • O2OO - OBD-II compliant car diagnostic tool. It reads sensor data from a car into an sqlite database.
      • 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.
      • freediag - Free diagnostic software for OBD-II compliant motor vehicles.
      • pyvit - Python Vehicle Interface Toolkit _(archived)_.

    • J1939 Tools

      • can-utils with J1939 support - Fork of can-utils with a few additional tools for J1939.
      • 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.
      • 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

      • ~~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.

    • UDS

      • 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

      • 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.

  • 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](https://github.com/linux-can/can-utils/blob/master/can-j1939-install-kernel-module.md).
      • Linux CAN Utils - Linux-CAN / SocketCAN user space useful utils.
      • 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

      • Plotter and Scanner from SmartGauges - Scanning and visualizing tool for automotive systems.
      • 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.
      • 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.
      • Seeed-USB-CAN-Analyzer - Closed source binary for noname Chinese USB-CAN adapter.

    • Python Tools

      • 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`.
      • 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.
      • 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.
      • py4can - Python utility to send and receive CAN messages through CANalyzer.
      • can4python - A package for handling CAN bus signals on Linux SocketCAN.

    • Libraries

      • Qt CAN Bus - A multiplatform C++ plugin based library with support for various CAN Devices (SocketCAN, Sys Tec, PEAK, Virtual).
      • 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.
      • 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.

    • 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).

    • 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).
      • c0f - CAN bus fingerprinting tool is designed to analyze CAN bus traffic and fingerprint the Maker and Model.

    • 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 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 - 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).
      • 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

    • ARM

      • ELM327 - Open-source ELM327 OBD adapter based on LPC1517JDB48.
      • CAN-Bus-Arduino_Core_STM32 - Lowlevel CanBUS Example for Arduino Core STM32.
      • ELM329 - Open-source ELM329 OBD adapter based on STM32F042.
      • 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.
      • 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.
      • 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](https://github.com/linklayer/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.
      • BudgetCANv2 - FW for use on STM32 microcontroller to implement FDCAN and USB using the STM32 HAL. Tested on [BudgetCANv2-HW](https://github.com/ryedwards/BUDGETCANFD_G0-Hardware).
      • 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](https://github.com/zjlywjh001/CAN_Omega_Firmware) & [software](https://github.com/zjlywjh001/CAN_OMEGA_Tools).
      • 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](https://github.com/linklayer/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](https://github.com/kkuchera/canalyze-fw) as firmware source.
      • Cantact FW - Cantact FirmWare by x893.
      • 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

      • open-source-can-bridge - Gateway with several CAN interfaces based on Xmega.
      • 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](https://github.com/CANBus-Triple/CANBus-Triple).
      • 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](https://github.com/mintynet/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

      • 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

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

  • 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.

  • Footnotes

Programming Languages
C 61 C++ 58 Python 49 C# 4 Java 4 Shell 3 Eagle 3 Go 2 KiCad 2 Pascal 1
Categories
Hardware 85 Utils 68 Protocols 30 CAN Database 25 Hacking and Reverse Engineering tools 22 Test equipment and simulators 2 Footnotes 2
Sub Categories
ARM 42 GUI Tools 23 Espressif Systems (ESP8266, ESP32) 19 Arduino 15 Python Tools 14 DBC only 12 J1939 Tools 11 OBD-II tools 8 Linux related 7 Libraries 7 Converters and Parsers 7 Other Utils 7 Formats (DBC, KCD) 6 ISO-TP 4 Common 4 J2534 Tools 4 CAN-over-IP 4 Hardware related tools 4 Others HW 4 UDS 3 SBC 3 Examples 2
Keywords
can-bus 64 can 37 automotive 22 canbus 22 arduino 17 socketcan 14 python 11 stm32 10 obd2 10 c 9 dbc 9 car 9 esp32 8 embedded 7 car-hacking 7 linux 6 usb 6 slcan 6 uds 6 automotive-security 6 can-fd 6 canfd 5 bootloader 5 elm327 5 ecu 5 obd-ii 4 controller-area-network 4 mcp2515 4 raspberry-pi 4 busmaster 4 isotp 4 j1939 4 windows 3 bus 3 obd 3 vector 3 iso15765 3 iso-tp 3 python3 3 diagnostic 3 slcan-protocol 3 stm32f042 3 lawicel 3 bus-monitoring 3 usb2can 3 lin 3 pcan 3 sym 3 reverse-engineering 3 kcd 3