A C++ library for CAN bus packet handling, including support for higher level protocols CANopen and NMEA 2000.

• Unpack raw CAN frame byte sequences to can::Packet struct
• Convert can::Packet to raw CAN frame to be transmitted
• Bits class extends std::bitset for bit manipulation of CAN payload data
• Convenient size-agnostic endianness conversion with hton() and ntoh()

• Unpack COB-ID to function code and node ID

• Unpack COB-ID to priority, source address, and PGN
• Convert CAN packet to PGN struct
• Easy to add PGN support with a simple yaml file (automatic code generation)

• C++20
• CMake 3.16 or later

Note: add flags to optionally build examples/tests, enable linting.

mkdir build
cd build
cmake .. -DBUILD_EXAMPLES=ON -DBUILD_TESTS=ON -DENABLE_LINTING=ON
make

After building with tests enabled:

# Run all tests via CTest (shows individual test cases)
make test

# Or run CTest directly with verbose output
ctest --verbose

# Run individual test executables
./test/test_can
# ... etc.

Note: Google Test is automatically downloaded and built as part of the build process, ensuring consistent behavior across all platforms.

After building with examples enabled:

cd build

# CAN example
./example/can_example

# N2k example
./example/n2k_example

# CANopen example
./example/canopen_example

This project supports code linting and formatting using Uncrustify.

Install Uncrustify on your system:

# macOS
brew install uncrustify

# Ubuntu/Debian
sudo apt-get install uncrustify

Other systems: See the Uncrustify installation guide.

After building with linting enabled:

# Check code formatting (non-destructive)
make lint

# Apply formatting fixes automatically
make format

sudo make install

Include the library in your CMake project:

find_package(can-cpp REQUIRED)
target_link_libraries(your_target can-cpp::can-cpp)