arduino-canbus-monitor 
CAN BUS monitoring software based on Arduino with Seeduino/ElecFreaks CAN BUS shield based on MCP2515 (Numerous other MCP2515 based CAN BUS modules from ebay and aliexpress work well to).
This software implements CAN ASCII / Serial CAN / SLCAN protocol compatible with Lawicel CAN232/CANUSB.
As for PC counterpart software I personally used and can recommend two tools:
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[Windows] CANHacker tool v.2.00.01 (by fuchs) to sniff and visualize data on the bus. You can download CANHacker tool from this forum page: http://www.canhack.net/viewforum.php?f=25&sid=ac01d465f19e088cb160cab630561607 (P.S. Looks like canhack.net no longer operating, here is a copy of installation file: CANHackerV2.00.01.exe)
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[Windows] CAN-COOL (by MHS Elektronik), open source, but unfortunaly available only in German. Download link: http://www.mhs-elektronik.de/index.php?module=content&action=show&page=can_cool (Make sure you select RS232 and SL-CAN protocol and then click hardware bus reset icon on a toolbar)
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[Linux] SLCAN/SocketCAN can be used https://github.com/linux-can/can-utils. See details in the end of this README file
This monitor uses CAN BUS library forked from https://github.com/Seeed-Studio/CAN_BUS_Shield.
Copyright (C) 2015,2016 Anton Viktorov [email protected]
You can buy me a beer if you like the tool :o)
See protocol definition here http://www.can232.com/docs/can232_v3.pdf and here http://www.can232.com/docs/canusb_manual.pdf
Commands not supported/not implemented:
- s, W, M, m, U.
Commands modified:
- S - supports not declared 83.3 rate
- F - returns MCP2515 error flags
- Z - extra Z2 option enables 4 byte timestamp vs standard 2 byte (60000ms max)
CMD | IMPLEMENTED | SYNTAX | DESCRIPTION
------------------------------------------------------------------------------------------------------------
'S' | YES+ | Sn[CR] Setup with standard CAN bit-rates where n is 0-8.
| | S0 10Kbit S4 125Kbit S8 1Mbit
| | S1 20Kbit S5 250Kbit S9 83.3Kbit
| | S2 50Kbit S6 500Kbit
| | S3 100Kbit S7 800Kbit
's' | - | sxxyy[CR] Setup with BTR0/BTR1 CAN bit-rates where xx and yy is a hex value.
'O' | YES | O[CR] Open the CAN channel in normal mode (sending & receiving).
'L' | YES | L[CR] Open the CAN channel in listen only mode (receiving).
'C' | YES | C[CR] Close the CAN channel.
't' | YES | tiiildd...[CR] Transmit a standard (11bit) CAN frame.
'T' | YES | Tiiiiiiiildd...[CR] Transmit an extended (29bit) CAN frame
'r' | YES | riiil[CR] Transmit an standard RTR (11bit) CAN frame.
'R' | YES | Riiiiiiiil[CR] Transmit an extended RTR (29bit) CAN frame.
'P' | YES | P[CR] Poll incomming FIFO for CAN frames (single poll)
'A' | YES | A[CR] Polls incomming FIFO for CAN frames (all pending frames)
'F' | YES+ | F[CR] Read Status Flags.
'X' | YES | Xn[CR] Sets Auto Poll/Send ON/OFF for received frames.
'W' | - | Wn[CR] Filter mode setting. By default CAN232 works in dual filter mode (0) and is backwards compatible with previous CAN232 versions.
'M' | - | Mxxxxxxxx[CR] Sets Acceptance Code Register (ACn Register of SJA1000). // we use MCP2515, not supported
'm' | - | mxxxxxxxx[CR] Sets Acceptance Mask Register (AMn Register of SJA1000). // we use MCP2515, not supported
'U' | YES | Un[CR] Setup UART with a new baud rate where n is 0-6.
'V' | YES | v[CR] Get Version number of both CAN232 hardware and software
'v' | YES | V[CR] Get Version number of both CAN232 hardware and software
'N' | YES | N[CR] Get Serial number of the CAN232.
'Z' | YES+ | Zn[CR] Sets Time Stamp ON/OFF for received frames only. EXTENSION to LAWICEL: Z2 - millis() timestamp w/o standard 60000ms cycle
'Q' | YES todo | Qn[CR] Auto Startup feature (from power on).
Linux SLCAN instructions
Prerequisites
Install can-utils first.
On Ubuntu and other Debian-based distros can-utils package is included into standard repositories:
sudo apt install can-utils
For other distros please follow respective instructions, start from here https://github.com/linux-can/can-utils
Create CAN device
sudo slcan_attach -f -s4 -o /dev/ttyUSB0
sudo slcand -S 115200 /dev/ttyUSB0 can0
sudo ifconfig can0 up
where 115200 is port speed, /dev/ttyUSB0 - name of your arduino device. can be different
To dump running traffic
candump can0
To delete CAN device
sudo ifconfig can0 down
sudo killall slcand