diff --git a/automotive/can/aidl/default/Android.bp b/automotive/can/aidl/default/Android.bp
new file mode 100644
index 0000000..d44cb91
--- /dev/null
+++ b/automotive/can/aidl/default/Android.bp
@@ -0,0 +1,51 @@
+//
+// Copyright (C) 2022 The Android Open Source Project
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//      http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+
+package {
+    // See: http://go/android-license-faq
+    // A large-scale-change added 'default_applicable_licenses' to import
+    // all of the 'license_kinds' from "hardware_interfaces_license"
+    // to get the below license kinds:
+    //   SPDX-license-identifier-Apache-2.0
+    default_applicable_licenses: ["hardware_interfaces_license"],
+}
+
+cc_binary {
+    name: "android.hardware.automotive.can-service",
+    init_rc: ["android.hardware.automotive.can.rc"],
+    defaults: ["android.hardware.automotive.can@defaults"],
+    vendor: true,
+    relative_install_path: "hw",
+    srcs: [
+        "CanBus.cpp",
+        "CanBusSlcan.cpp",
+        "CanBusNative.cpp",
+        "CanBusVirtual.cpp",
+        "CanController.cpp",
+        "service.cpp",
+    ],
+    shared_libs: [
+        "android.hardware.automotive.can-V1-ndk",
+        "libbase",
+        "libbinder_ndk",
+    ],
+    static_libs: [
+        "android.hardware.automotive.can@libnetdevice",
+        "android.hardware.automotive@libc++fs",
+        "libnl++",
+    ],
+    vintf_fragments: ["android.hardware.automotive.can.xml"],
+}
diff --git a/automotive/can/aidl/default/CanBus.cpp b/automotive/can/aidl/default/CanBus.cpp
new file mode 100644
index 0000000..d1f9b78
--- /dev/null
+++ b/automotive/can/aidl/default/CanBus.cpp
@@ -0,0 +1,93 @@
+/*
+ * Copyright 2022, The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "CanBus.h"
+
+#include <android-base/logging.h>
+#include <libnetdevice/libnetdevice.h>
+
+namespace aidl::android::hardware::automotive::can {
+
+CanBus::CanBus(std::string_view ifname) : mIfname(ifname) {}
+
+CanBus::~CanBus() {
+    std::lock_guard<std::mutex> lck(mIsUpGuard);
+    CHECK(!mIsUp) << "Interface is still up while being destroyed";
+}
+
+Result CanBus::preUp() {
+    return Result::OK;
+}
+
+bool CanBus::postDown() {
+    return true;
+}
+
+std::string CanBus::getIfaceName() {
+    return mIfname;
+}
+
+Result CanBus::up() {
+    std::lock_guard<std::mutex> lck(mIsUpGuard);
+
+    if (mIsUp) {
+        LOG(WARNING) << "Interface is already up";
+        return Result::INVALID_STATE;
+    }
+
+    const auto preResult = preUp();
+    if (preResult != Result::OK) return preResult;
+
+    const auto isUp = ::android::netdevice::isUp(mIfname);
+    if (!isUp.has_value()) {
+        // preUp() should prepare the interface (either create or make sure it's there)
+        LOG(ERROR) << "Interface " << mIfname << " didn't get prepared";
+        return Result::BAD_INTERFACE_ID;
+    }
+
+    if (!*isUp && !::android::netdevice::up(mIfname)) {
+        LOG(ERROR) << "Can't bring " << mIfname << " up";
+        return Result::UNKNOWN_ERROR;
+    }
+    mDownAfterUse = !*isUp;
+
+    mIsUp = true;
+    return Result::OK;
+}
+
+Result CanBus::down() {
+    std::lock_guard<std::mutex> lck(mIsUpGuard);
+
+    if (!mIsUp) {
+        LOG(WARNING) << "Interface is already down";
+        return Result::INVALID_STATE;
+    }
+    mIsUp = false;
+
+    Result success = Result::OK;
+
+    if (mDownAfterUse && !::android::netdevice::down(mIfname)) {
+        LOG(ERROR) << "Can't bring " << mIfname << " down";
+        // don't return yet, let's try to do best-effort cleanup
+        success = Result::UNKNOWN_ERROR;
+    }
+
+    if (!postDown()) success = Result::UNKNOWN_ERROR;
+
+    return success;
+}
+
+}  // namespace aidl::android::hardware::automotive::can
diff --git a/automotive/can/aidl/default/CanBus.h b/automotive/can/aidl/default/CanBus.h
new file mode 100644
index 0000000..abdbe51
--- /dev/null
+++ b/automotive/can/aidl/default/CanBus.h
@@ -0,0 +1,77 @@
+/*
+ * Copyright 2022, The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+#pragma once
+
+#include <aidl/android/hardware/automotive/can/Result.h>
+
+#include <android-base/macros.h>
+#include <utils/Mutex.h>
+
+#include <atomic>
+#include <mutex>
+
+namespace aidl::android::hardware::automotive::can {
+
+class CanBus {
+  public:
+    /**
+     * Some interface types (such as SLCAN) don't get an interface name until after being
+     * initialized, hence ifname is optional.
+     *
+     * You MUST ensure mIfname is initialized prior to the completion of preUp().
+     */
+    CanBus(std::string_view ifname = std::string_view{""});
+
+    virtual ~CanBus();
+
+    Result up();
+    Result down();
+    std::string getIfaceName();
+
+  protected:
+    /**
+     * Prepare the SocketCAN interface.
+     *
+     * After calling this method, mIfname network interface is available and ready to be brought up.
+     *
+     * \return true upon success and false upon failure
+     */
+    virtual Result preUp();
+
+    /**
+     * Cleanup after bringing the interface down.
+     *
+     * This is a counterpart to preUp().
+     *
+     * \return true upon success and false upon failure
+     */
+    virtual bool postDown();
+
+    /** Network interface name. */
+    std::string mIfname;
+
+  private:
+    /**
+     * Guard for up flag is required to be held for entire time when the interface is being used
+     * because we don't want the interface to be torn down while executing that operation.
+     */
+    std::mutex mIsUpGuard;
+    bool mIsUp GUARDED_BY(mIsUpGuard) = false;
+
+    bool mDownAfterUse;
+};
+
+}  // namespace aidl::android::hardware::automotive::can
diff --git a/automotive/can/aidl/default/CanBusNative.cpp b/automotive/can/aidl/default/CanBusNative.cpp
new file mode 100644
index 0000000..8a7de99
--- /dev/null
+++ b/automotive/can/aidl/default/CanBusNative.cpp
@@ -0,0 +1,54 @@
+/*
+ * Copyright 2022, The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "CanBusNative.h"
+
+#include <android-base/logging.h>
+#include <libnetdevice/can.h>
+#include <libnetdevice/libnetdevice.h>
+
+namespace aidl::android::hardware::automotive::can {
+
+using namespace ::android;
+
+CanBusNative::CanBusNative(const std::string& ifname, uint32_t bitrate)
+    : CanBus(ifname), mBitrate(bitrate) {}
+
+Result CanBusNative::preUp() {
+    if (!netdevice::exists(mIfname)) {
+        LOG(ERROR) << "Interface " << mIfname << " doesn't exist";
+        return Result::BAD_INTERFACE_ID;
+    }
+
+    if (mBitrate == 0) {
+        // interface is already up and we just want to register it
+        return Result::OK;
+    }
+
+    if (!netdevice::down(mIfname)) {
+        LOG(ERROR) << "Can't bring " << mIfname << " down (to configure it)";
+        return Result::UNKNOWN_ERROR;
+    }
+
+    if (!netdevice::can::setBitrate(mIfname, mBitrate)) {
+        LOG(ERROR) << "Can't set bitrate " << mBitrate << " for " << mIfname;
+        return Result::BAD_BITRATE;
+    }
+
+    return Result::OK;
+}
+
+}  // namespace aidl::android::hardware::automotive::can
diff --git a/automotive/can/aidl/default/CanBusNative.h b/automotive/can/aidl/default/CanBusNative.h
new file mode 100644
index 0000000..32846c7
--- /dev/null
+++ b/automotive/can/aidl/default/CanBusNative.h
@@ -0,0 +1,33 @@
+/*
+ * Copyright 2022, The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+#pragma once
+
+#include "CanBus.h"
+
+namespace aidl::android::hardware::automotive::can {
+
+class CanBusNative : public CanBus {
+  public:
+    CanBusNative(const std::string& ifname, uint32_t bitrate);
+
+  protected:
+    virtual Result preUp() override;
+
+  private:
+    const uint32_t mBitrate;
+};
+
+}  // namespace aidl::android::hardware::automotive::can
diff --git a/automotive/can/aidl/default/CanBusSlcan.cpp b/automotive/can/aidl/default/CanBusSlcan.cpp
new file mode 100644
index 0000000..6060419
--- /dev/null
+++ b/automotive/can/aidl/default/CanBusSlcan.cpp
@@ -0,0 +1,174 @@
+/*
+ * Copyright 2022, The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "CanBusSlcan.h"
+
+#include <android-base/file.h>
+#include <android-base/logging.h>
+#include <libnetdevice/libnetdevice.h>
+
+#include <linux/serial.h>
+#include <linux/tty.h>
+#include <net/if.h>
+#include <termios.h>
+
+#include <map>
+
+namespace aidl::android::hardware::automotive::can {
+
+using namespace std::string_view_literals;
+using namespace ::android::base;
+
+namespace slcanprotocol {
+static constexpr std::string_view kOpenCommand = "O\r"sv;
+static constexpr std::string_view kCloseCommand = "C\r"sv;
+static constexpr int kSlcanDiscipline = N_SLCAN;
+static constexpr int kDefaultDiscipline = N_TTY;
+
+static const std::map<uint32_t, std::string_view> kBitrateCommands = {
+        {10000, "C\rS0\r"sv},  {20000, "C\rS1\r"sv},  {50000, "C\rS2\r"sv},
+        {100000, "C\rS3\r"sv}, {125000, "C\rS4\r"sv}, {250000, "C\rS5\r"sv},
+        {500000, "C\rS6\r"sv}, {800000, "C\rS7\r"sv}, {1000000, "C\rS8\r"sv}};
+}  // namespace slcanprotocol
+
+/**
+ * Serial Line CAN constructor
+ * \param string uartName - name of slcan device (e.x. /dev/ttyUSB0)
+ * \param uint32_t bitrate - speed of the CAN bus (125k = MSCAN, 500k = HSCAN)
+ */
+CanBusSlcan::CanBusSlcan(const std::string& uartName, uint32_t bitrate)
+    : CanBus(), mTtyPath(uartName), kBitrate(bitrate) {}
+
+/** helper function to update CanBusSlcan object's iface name */
+Result CanBusSlcan::updateIfaceName(unique_fd& uartFd) {
+    struct ifreq ifrequest = {};
+    /*
+     * Fetching the iface name with an ioctl won't interfere with an open socketCAN iface attached
+     * to this tty. This is important in the event we are trying to register a SLCAN based iface
+     * that has already been configured and brought up.
+     */
+    if (ioctl(uartFd.get(), SIOCGIFNAME, ifrequest.ifr_name) < 0) {
+        PLOG(ERROR) << "Failed to get the name of the created device";
+        return Result::UNKNOWN_ERROR;
+    }
+
+    // Update the CanBus object with name that was assigned to it
+    mIfname = ifrequest.ifr_name;
+    return Result::OK;
+}
+
+Result CanBusSlcan::preUp() {
+    // verify valid bitrate and translate to serial command format
+    std::optional<std::string_view> canBitrateCommand = std::nullopt;
+    if (kBitrate != 0) {
+        const auto lookupIt = slcanprotocol::kBitrateCommands.find(kBitrate);
+        if (lookupIt == slcanprotocol::kBitrateCommands.end()) {
+            return Result::BAD_BITRATE;
+        }
+        canBitrateCommand = lookupIt->second;
+    }
+
+    /* Attempt to open the uart in r/w without blocking or becoming the
+     * controlling terminal */
+    mFd = unique_fd(open(mTtyPath.c_str(), O_RDWR | O_NONBLOCK | O_NOCTTY | O_CLOEXEC));
+    if (!mFd.ok()) {
+        PLOG(ERROR) << "SLCAN Failed to open " << mTtyPath;
+        return Result::BAD_INTERFACE_ID;
+    }
+
+    // If the device is already up, update the iface name in our CanBusSlcan object
+    if (kBitrate == 0) {
+        return updateIfaceName(mFd);
+    }
+
+    // blank terminal settings and pull them from the device
+    struct termios terminalSettings = {};
+    if (tcgetattr(mFd.get(), &terminalSettings) < 0) {
+        PLOG(ERROR) << "Failed to read attrs of" << mTtyPath;
+        return Result::UNKNOWN_ERROR;
+    }
+
+    // change settings to raw mode
+    cfmakeraw(&terminalSettings);
+
+    // disable software flow control
+    terminalSettings.c_iflag &= ~IXOFF;
+    // enable hardware flow control
+    terminalSettings.c_cflag |= CRTSCTS;
+
+    struct serial_struct serialSettings;
+    // get serial settings
+    if (ioctl(mFd.get(), TIOCGSERIAL, &serialSettings) < 0) {
+        PLOG(ERROR) << "Failed to read serial settings from " << mTtyPath;
+        return Result::UNKNOWN_ERROR;
+    }
+    // set low latency mode
+    serialSettings.flags |= ASYNC_LOW_LATENCY;
+    // apply serial settings
+    if (ioctl(mFd.get(), TIOCSSERIAL, &serialSettings) < 0) {
+        PLOG(ERROR) << "Failed to set low latency mode on " << mTtyPath;
+        return Result::UNKNOWN_ERROR;
+    }
+
+    /* TCSADRAIN applies settings after we finish writing the rest of our
+     * changes (as opposed to TCSANOW, which changes immediately) */
+    if (tcsetattr(mFd.get(), TCSADRAIN, &terminalSettings) < 0) {
+        PLOG(ERROR) << "Failed to apply terminal settings to " << mTtyPath;
+        return Result::UNKNOWN_ERROR;
+    }
+
+    // apply speed setting for CAN
+    if (!WriteStringToFd(*canBitrateCommand, mFd)) {
+        PLOG(ERROR) << "Failed to apply CAN bitrate";
+        return Result::UNKNOWN_ERROR;
+    }
+
+    // TODO(b/144775286): set open flag & support listen only
+    if (!WriteStringToFd(slcanprotocol::kOpenCommand, mFd)) {
+        PLOG(ERROR) << "Failed to set open flag";
+        return Result::UNKNOWN_ERROR;
+    }
+
+    // set line discipline to slcan
+    if (ioctl(mFd.get(), TIOCSETD, &slcanprotocol::kSlcanDiscipline) < 0) {
+        PLOG(ERROR) << "Failed to set line discipline to slcan";
+        return Result::UNKNOWN_ERROR;
+    }
+
+    // Update the CanBus object with name that was assigned to it
+    return updateIfaceName(mFd);
+}
+
+bool CanBusSlcan::postDown() {
+    // reset the line discipline to TTY mode
+    if (ioctl(mFd.get(), TIOCSETD, &slcanprotocol::kDefaultDiscipline) < 0) {
+        LOG(ERROR) << "Failed to reset line discipline!";
+        return false;
+    }
+
+    // issue the close command
+    if (!WriteStringToFd(slcanprotocol::kCloseCommand, mFd)) {
+        LOG(ERROR) << "Failed to close tty!";
+        return false;
+    }
+
+    // close our unique_fd
+    mFd.reset();
+
+    return true;
+}
+
+}  // namespace aidl::android::hardware::automotive::can
diff --git a/automotive/can/aidl/default/CanBusSlcan.h b/automotive/can/aidl/default/CanBusSlcan.h
new file mode 100644
index 0000000..a1c908c
--- /dev/null
+++ b/automotive/can/aidl/default/CanBusSlcan.h
@@ -0,0 +1,40 @@
+/*
+ * Copyright 2022, The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+#pragma once
+
+#include "CanBus.h"
+
+#include <android-base/unique_fd.h>
+
+namespace aidl::android::hardware::automotive::can {
+
+class CanBusSlcan : public CanBus {
+  public:
+    CanBusSlcan(const std::string& uartName, uint32_t bitrate);
+
+  protected:
+    virtual Result preUp() override;
+    virtual bool postDown() override;
+
+  private:
+    Result updateIfaceName(::android::base::unique_fd& uartFd);
+
+    const std::string mTtyPath;
+    const uint32_t kBitrate;
+    ::android::base::unique_fd mFd;
+};
+
+}  // namespace aidl::android::hardware::automotive::can
diff --git a/automotive/can/aidl/default/CanBusVirtual.cpp b/automotive/can/aidl/default/CanBusVirtual.cpp
new file mode 100644
index 0000000..28a1258
--- /dev/null
+++ b/automotive/can/aidl/default/CanBusVirtual.cpp
@@ -0,0 +1,52 @@
+/*
+ * Copyright 2022, The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "CanBusVirtual.h"
+
+#include <android-base/logging.h>
+#include <libnetdevice/libnetdevice.h>
+
+namespace aidl::android::hardware::automotive::can {
+
+using namespace ::android;
+
+CanBusVirtual::CanBusVirtual(const std::string& ifname) : CanBus(ifname) {}
+
+Result CanBusVirtual::preUp() {
+    if (netdevice::exists(mIfname)) return Result::OK;
+
+    LOG(DEBUG) << "Virtual interface " << mIfname << " doesn't exist, creating...";
+    mWasCreated = true;
+    if (!netdevice::add(mIfname, "vcan")) {
+        LOG(ERROR) << "Can't create vcan interface " << mIfname;
+        return Result::UNKNOWN_ERROR;
+    }
+
+    return Result::OK;
+}
+
+bool CanBusVirtual::postDown() {
+    if (mWasCreated) {
+        mWasCreated = false;
+        if (!netdevice::del(mIfname)) {
+            LOG(ERROR) << "Couldn't remove vcan interface " << mIfname;
+            return false;
+        }
+    }
+    return true;
+}
+
+}  // namespace aidl::android::hardware::automotive::can
diff --git a/automotive/can/aidl/default/CanBusVirtual.h b/automotive/can/aidl/default/CanBusVirtual.h
new file mode 100644
index 0000000..9c5d35d
--- /dev/null
+++ b/automotive/can/aidl/default/CanBusVirtual.h
@@ -0,0 +1,34 @@
+/*
+ * Copyright 2022, The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+#pragma once
+
+#include "CanBus.h"
+
+namespace aidl::android::hardware::automotive::can {
+
+class CanBusVirtual : public CanBus {
+  public:
+    CanBusVirtual(const std::string& ifname);
+
+  protected:
+    virtual Result preUp() override;
+    virtual bool postDown() override;
+
+  private:
+    bool mWasCreated = false;
+};
+
+}  // namespace aidl::android::hardware::automotive::can
diff --git a/automotive/can/aidl/default/CanController.cpp b/automotive/can/aidl/default/CanController.cpp
new file mode 100644
index 0000000..e4b5306
--- /dev/null
+++ b/automotive/can/aidl/default/CanController.cpp
@@ -0,0 +1,333 @@
+/*
+ * Copyright 2022, The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "CanController.h"
+
+#include "CanBusNative.h"
+#include "CanBusSlcan.h"
+#include "CanBusVirtual.h"
+
+#include <android-base/format.h>
+#include <android-base/logging.h>
+
+#include <automotive/filesystem>
+#include <fstream>
+#include <regex>
+
+namespace aidl::android::hardware::automotive::can {
+
+namespace fs = ::android::hardware::automotive::filesystem;
+
+namespace fsErrors {
+static const std::error_code ok;
+static const std::error_code eperm(EPERM, std::generic_category());
+static const std::error_code enoent(ENOENT, std::generic_category());
+static const std::error_code eacces(EACCES, std::generic_category());
+}  // namespace fsErrors
+
+/* In the /sys/devices tree, there are files called "serial", which contain the serial numbers
+ * for various devices. The exact location inside of this directory is dependent upon the
+ * hardware we are running on, so we have to start from /sys/devices and work our way down. */
+static const fs::path kDevPath("/sys/devices/");
+static const std::regex kTtyRe("^tty[A-Z]+[0-9]+$");
+static constexpr auto kOpts = ~(fs::directory_options::follow_directory_symlink |
+                                fs::directory_options::skip_permission_denied);
+
+constexpr auto ok = &ndk::ScopedAStatus::ok;
+
+/**
+ * A helper object to associate the interface name and type of a USB to CAN adapter.
+ */
+struct UsbCanIface {
+    InterfaceType iftype;
+    std::string ifaceName;
+};
+
+static bool isValidName(const std::string& name) {
+    static const std::regex nameRE("^[a-zA-Z0-9_]{1,32}$");
+    return std::regex_match(name, nameRE);
+}
+
+/**
+ * Given a path, get the last element from it.
+ *
+ * \param itrPath - the path we want the last element of
+ * \return - the last element in the path (in string form).
+ */
+static std::string getLeaf(const fs::path& itrPath) {
+    /* end() returns an iterator one past the leaf of the path, so we've overshot
+    decrement (--) to go back one to the leaf
+    dereference and now we have our leaf. */
+    return *(--(itrPath.end()));
+}
+
+static ndk::ScopedAStatus resultToStatus(Result res, const std::string& msg = "") {
+    if (msg.empty()) {
+        return ndk::ScopedAStatus(AStatus_fromServiceSpecificError(static_cast<int>(res)));
+    }
+    return ndk::ScopedAStatus(
+            AStatus_fromServiceSpecificErrorWithMessage(static_cast<int>(res), msg.c_str()));
+}
+
+/**
+ * Given a UsbCanIface object, get the ifaceName given the serialPath.
+ *
+ * \param serialPath - Absolute path to a "serial" file for a given device in /sys.
+ * \return A populated UsbCanIface. On failure, nullopt is returned.
+ */
+static std::optional<UsbCanIface> getIfaceName(const fs::path& serialPath) {
+    std::error_code fsStatus;
+    // Since the path is to a file called "serial", we need to search its parent directory.
+    fs::recursive_directory_iterator fsItr(serialPath.parent_path(), kOpts, fsStatus);
+    if (fsStatus != fsErrors::ok) {
+        LOG(ERROR) << "Failed to open " << serialPath.parent_path();
+        return std::nullopt;
+    }
+
+    for (; fsStatus == fsErrors::ok && fsItr != fs::recursive_directory_iterator();
+         fsItr.increment(fsStatus)) {
+        /* We want either a directory called "net" or a directory that looks like tty<something>, so
+         * skip files. */
+        bool isDir = fsItr->is_directory(fsStatus);
+        if (fsStatus != fsErrors::ok || !isDir) continue;
+
+        std::string currentDir = getLeaf(fsItr->path());
+        if (currentDir == "net") {
+            /* This device is a SocketCAN device. The iface name is the only directory under
+             * net/. Multiple directories under net/ is an error.*/
+            fs::directory_iterator netItr(fsItr->path(), kOpts, fsStatus);
+            if (fsStatus != fsErrors::ok) {
+                LOG(ERROR) << "Failed to open " << fsItr->path() << " to get net name!";
+                return std::nullopt;
+            }
+
+            // The leaf of our path should be the interface name.
+            std::string netName = getLeaf(netItr->path());
+
+            // Check if there is more than one item in net/
+            netItr.increment(fsStatus);
+            if (fsStatus != fsErrors::ok) {
+                // It's possible we have a valid net name, but this is most likely an error.
+                LOG(ERROR) << "Failed to verify " << fsItr->path() << " has valid net name!";
+                return std::nullopt;
+            }
+            if (netItr != fs::directory_iterator()) {
+                // There should never be more than one name under net/
+                LOG(ERROR) << "Found more than one net name in " << fsItr->path() << "!";
+                return std::nullopt;
+            }
+            return {{InterfaceType::NATIVE, netName}};
+        } else if (std::regex_match(currentDir, kTtyRe)) {
+            // This device is a USB serial device, and currentDir is the tty name.
+            return {{InterfaceType::SLCAN, "/dev/" + currentDir}};
+        }
+    }
+
+    // check if the loop above exited due to a c++fs error.
+    if (fsStatus != fsErrors::ok) {
+        LOG(ERROR) << "Failed search filesystem: " << fsStatus;
+    }
+    return std::nullopt;
+}
+
+/**
+ * A helper function to read the serial number from a "serial" file in /sys/devices/
+ *
+ * \param serialnoPath - path to the file to read.
+ * \return the serial number, or nullopt on failure.
+ */
+static std::optional<std::string> readSerialNo(const std::string& serialnoPath) {
+    std::ifstream serialnoStream(serialnoPath);
+    std::string serialno;
+    if (!serialnoStream.good()) {
+        LOG(ERROR) << "Failed to read serial number from " << serialnoPath;
+        return std::nullopt;
+    }
+    std::getline(serialnoStream, serialno);
+    return serialno;
+}
+
+/**
+ * Searches for USB devices found in /sys/devices/, and attempts to find a device matching the
+ * provided list of serial numbers.
+ *
+ * \param configSerialnos - a list of serial number (suffixes) from the HAL config.
+ * \param iftype - the type of the interface to be located.
+ * \return a matching USB device. On failure, std::nullopt is returned.
+ */
+static std::optional<UsbCanIface> findUsbDevice(const std::vector<std::string>& configSerialnos) {
+    std::error_code fsStatus;
+    fs::recursive_directory_iterator fsItr(kDevPath, kOpts, fsStatus);
+    if (fsStatus != fsErrors::ok) {
+        LOG(ERROR) << "Failed to open " << kDevPath;
+        return std::nullopt;
+    }
+
+    for (; fsStatus == fsErrors::ok && fsItr != fs::recursive_directory_iterator();
+         fsItr.increment(fsStatus)) {
+        // We want to find a file called "serial", which is in a directory somewhere. Skip files.
+        bool isDir = fsItr->is_directory(fsStatus);
+        if (fsStatus != fsErrors::ok) {
+            LOG(ERROR) << "Failed check if " << fsStatus;
+            return std::nullopt;
+        }
+        if (!isDir) continue;
+
+        auto serialnoPath = fsItr->path() / "serial";
+        bool isReg = fs::is_regular_file(serialnoPath, fsStatus);
+
+        /* Make sure we have permissions to this directory, ignore enoent, since the file
+         * "serial" may not exist, which is ok. */
+        if (fsStatus == fsErrors::eperm || fsStatus == fsErrors::eacces) {
+            /* This means we  don't have access to this directory. If we recurse into it, this
+             * will cause the iterator to loose its state and we'll crash. */
+            fsItr.disable_recursion_pending();
+            continue;
+        }
+        if (fsStatus == fsErrors::enoent) continue;
+        if (fsStatus != fsErrors::ok) {
+            LOG(WARNING) << "An unexpected error occurred while checking for serialno: "
+                         << fsStatus;
+            continue;
+        }
+        if (!isReg) continue;
+
+        // we found a serial number
+        auto serialno = readSerialNo(serialnoPath);
+        if (!serialno.has_value()) continue;
+
+        // see if the serial number exists in the config
+        for (auto&& cfgSn : configSerialnos) {
+            if (serialno->ends_with(std::string(cfgSn))) {
+                auto ifaceInfo = getIfaceName(serialnoPath);
+                if (!ifaceInfo.has_value()) break;
+                return ifaceInfo;
+            }
+        }
+    }
+    if (fsStatus != fsErrors::ok) {
+        LOG(ERROR) << "Error searching filesystem: " << fsStatus;
+        return std::nullopt;
+    }
+    return std::nullopt;
+}
+
+ndk::ScopedAStatus CanController::getSupportedInterfaceTypes(
+        std::vector<InterfaceType>* supportedTypes) {
+    *supportedTypes = {InterfaceType::VIRTUAL, InterfaceType::NATIVE, InterfaceType::SLCAN};
+    return ok();
+}
+
+ndk::ScopedAStatus CanController::getInterfaceName(const std::string& busName,
+                                                   std::string* ifaceName) {
+    *ifaceName = {};
+    if (mBusesByName.find(busName) == mBusesByName.end()) {
+        return resultToStatus(Result::BAD_BUS_NAME, fmt::format("{} doesn't exist", busName));
+    }
+    *ifaceName = std::string(mBusesByName[busName]->getIfaceName());
+    return ok();
+}
+
+ndk::ScopedAStatus CanController::upBus(const BusConfig& config, std::string* ifaceName) {
+    if (!isValidName(config.name)) {
+        LOG(ERROR) << "Bus name " << config.name << " is invalid";
+        return resultToStatus(Result::BAD_BUS_NAME,
+                              fmt::format("{} is not a valid bus name", config.name));
+    } else if (mBusesByName.find(config.name) != mBusesByName.end()) {
+        LOG(ERROR) << "A bus named " << config.name << " already exists!";
+        return resultToStatus(Result::INVALID_STATE,
+                              fmt::format("A bus named {} already exists", config.name));
+    }
+
+    if (config.interfaceId.getTag() == BusConfig::InterfaceId::Tag::virtualif) {
+        auto& virtualif = config.interfaceId.get<BusConfig::InterfaceId::Tag::virtualif>();
+        mBusesByName[config.name] = std::make_unique<CanBusVirtual>(virtualif.ifname);
+    }
+
+    else if (config.interfaceId.getTag() == BusConfig::InterfaceId::Tag::nativeif) {
+        auto& nativeif = config.interfaceId.get<BusConfig::InterfaceId::Tag::nativeif>();
+        std::string ifaceName;
+        if (nativeif.interfaceId.getTag() == NativeInterface::InterfaceId::Tag::serialno) {
+            // Configure by serial number.
+            auto selectedDevice = findUsbDevice(
+                    nativeif.interfaceId.get<NativeInterface::InterfaceId::Tag::serialno>());
+            // verify the returned device is the correct one
+            if (!selectedDevice.has_value() || selectedDevice->iftype != InterfaceType::NATIVE) {
+                return resultToStatus(
+                        Result::BAD_INTERFACE_ID,
+                        "Couldn't find a native socketcan device with the given serial number(s)");
+            }
+            ifaceName = selectedDevice->ifaceName;
+        } else {
+            // configure by iface name.
+            ifaceName = nativeif.interfaceId.get<NativeInterface::InterfaceId::Tag::ifname>();
+        }
+        mBusesByName[config.name] = std::make_unique<CanBusNative>(ifaceName, config.bitrate);
+    }
+
+    else if (config.interfaceId.getTag() == BusConfig::InterfaceId::Tag::slcan) {
+        auto& slcanif = config.interfaceId.get<BusConfig::InterfaceId::Tag::slcan>();
+        std::string ttyName;
+        if (slcanif.interfaceId.getTag() == SlcanInterface::InterfaceId::Tag::serialno) {
+            // Configure by serial number.
+            auto selectedDevice = findUsbDevice(
+                    slcanif.interfaceId.get<SlcanInterface::InterfaceId::Tag::serialno>());
+            if (!selectedDevice.has_value() || selectedDevice->iftype != InterfaceType::SLCAN) {
+                return resultToStatus(
+                        Result::BAD_INTERFACE_ID,
+                        "Couldn't find a slcan device with the given serial number(s)");
+            }
+            ttyName = selectedDevice->ifaceName;
+        } else {
+            // Configure by tty name.
+            ttyName = slcanif.interfaceId.get<SlcanInterface::InterfaceId::Tag::ttyname>();
+        }
+        mBusesByName[config.name] = std::make_unique<CanBusSlcan>(ttyName, config.bitrate);
+    }
+
+    else if (config.interfaceId.getTag() == BusConfig::InterfaceId::Tag::indexed) {
+        return resultToStatus(Result::NOT_SUPPORTED,
+                              "Indexed devices are not supported in this implementation");
+    } else {
+        // this shouldn't happen.
+        return resultToStatus(Result::UNKNOWN_ERROR, "Unknown interface id type");
+    }
+
+    Result result = mBusesByName[config.name]->up();
+    if (result != Result::OK) {
+        // the bus failed to come up, don't leave a broken entry in the map.
+        mBusesByName.erase(config.name);
+        return resultToStatus(result, fmt::format("CanBus::up failed for {}", config.name));
+    }
+
+    *ifaceName = mBusesByName[config.name]->getIfaceName();
+    return ok();
+}
+
+ndk::ScopedAStatus CanController::downBus(const std::string& busName) {
+    if (mBusesByName.find(busName) == mBusesByName.end()) {
+        return resultToStatus(
+                Result::UNKNOWN_ERROR,
+                fmt::format("Couldn't bring down {}, because it doesn't exist", busName));
+    }
+    Result result = mBusesByName[busName]->down();
+    if (result != Result::OK) {
+        return resultToStatus(result, fmt::format("Couldn't bring down {}!", busName));
+    }
+    mBusesByName.erase(busName);
+    return ok();
+}
+}  // namespace aidl::android::hardware::automotive::can
diff --git a/automotive/can/aidl/default/CanController.h b/automotive/can/aidl/default/CanController.h
new file mode 100644
index 0000000..784906e
--- /dev/null
+++ b/automotive/can/aidl/default/CanController.h
@@ -0,0 +1,45 @@
+/*
+ * Copyright 2022, The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#pragma once
+
+#include <aidl/android/hardware/automotive/can/BnCanController.h>
+
+#include "CanBus.h"
+
+#include <aidl/android/hardware/automotive/can/Result.h>
+
+#include <map>
+#include <string>
+
+namespace aidl::android::hardware::automotive::can {
+
+class CanController : public BnCanController {
+  public:
+    ndk::ScopedAStatus getSupportedInterfaceTypes(
+            std::vector<InterfaceType>* supportedTypes) override;
+
+    ndk::ScopedAStatus getInterfaceName(const std::string& busName,
+                                        std::string* ifaceName) override;
+
+    ndk::ScopedAStatus upBus(const BusConfig& config, std::string* ifaceName) override;
+
+    ndk::ScopedAStatus downBus(const std::string& busName) override;
+
+  private:
+    std::map<std::string, std::unique_ptr<CanBus>> mBusesByName = {};
+};
+}  // namespace aidl::android::hardware::automotive::can
diff --git a/automotive/can/aidl/default/android.hardware.automotive.can.rc b/automotive/can/aidl/default/android.hardware.automotive.can.rc
new file mode 100644
index 0000000..f843752
--- /dev/null
+++ b/automotive/can/aidl/default/android.hardware.automotive.can.rc
@@ -0,0 +1,5 @@
+service android.hardware.automotive.can /vendor/bin/hw/android.hardware.automotive.can-service
+    class hal
+    capabilities NET_ADMIN
+    user vehicle_network
+    group system inet
diff --git a/automotive/can/aidl/default/android.hardware.automotive.can.xml b/automotive/can/aidl/default/android.hardware.automotive.can.xml
new file mode 100644
index 0000000..873f333
--- /dev/null
+++ b/automotive/can/aidl/default/android.hardware.automotive.can.xml
@@ -0,0 +1,26 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!-- Copyright (C) 2022 The Android Open Source Project
+
+     Licensed under the Apache License, Version 2.0 (the "License");
+     you may not use this file except in compliance with the License.
+     You may obtain a copy of the License at
+
+          http://www.apache.org/licenses/LICENSE-2.0
+
+     Unless required by applicable law or agreed to in writing, software
+     distributed under the License is distributed on an "AS IS" BASIS,
+     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+     See the License for the specific language governing permissions and
+     limitations under the License.
+-->
+
+<manifest version="1.0" type="device">
+    <hal format="aidl">
+        <name>android.hardware.automotive.can</name>
+        <version>1</version>
+        <interface>
+            <name>ICanController</name>
+            <instance>default</instance>
+        </interface>
+    </hal>
+</manifest>
diff --git a/automotive/can/aidl/default/service.cpp b/automotive/can/aidl/default/service.cpp
new file mode 100644
index 0000000..eb45167
--- /dev/null
+++ b/automotive/can/aidl/default/service.cpp
@@ -0,0 +1,43 @@
+/*
+ * Copyright 2022, The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "CanController.h"
+
+#include <android-base/logging.h>
+#include <android/binder_manager.h>
+#include <android/binder_process.h>
+
+namespace android::hardware::automotive::can {
+
+using namespace std::string_literals;
+using ::aidl::android::hardware::automotive::can::CanController;
+
+extern "C" int main() {
+    base::SetDefaultTag("CanController");
+    base::SetMinimumLogSeverity(base::VERBOSE);
+
+    LOG(VERBOSE) << "Starting up...";
+    auto service = ndk::SharedRefBase::make<CanController>();
+    const auto instance = CanController::descriptor + "/default"s;
+    const auto status = AServiceManager_addService(service->asBinder().get(), instance.c_str());
+    CHECK_EQ(status, STATUS_OK) << "Failed to add service " << instance;
+    LOG(VERBOSE) << "Started successfully!";
+
+    ABinderProcess_joinThreadPool();
+    LOG(FATAL) << "CanController exited unexpectedly!";
+    return EXIT_FAILURE;
+}
+}  // namespace android::hardware::automotive::can
diff --git a/automotive/can/aidl/default/tools/configurator/Android.bp b/automotive/can/aidl/default/tools/configurator/Android.bp
new file mode 100644
index 0000000..1169894
--- /dev/null
+++ b/automotive/can/aidl/default/tools/configurator/Android.bp
@@ -0,0 +1,43 @@
+//
+// Copyright (C) 2022 The Android Open Source Project
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//      http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+
+package {
+    // See: http://go/android-license-faq
+    // A large-scale-change added 'default_applicable_licenses' to import
+    // all of the 'license_kinds' from "hardware_interfaces_license"
+    // to get the below license kinds:
+    //   SPDX-license-identifier-Apache-2.0
+    default_applicable_licenses: ["hardware_interfaces_license"],
+}
+
+cc_binary {
+    name: "canhalconfigurator-aidl",
+    init_rc: ["canhalconfigurator-aidl.rc"],
+    defaults: ["android.hardware.automotive.can@defaults"],
+    srcs: [
+        "canhalconfigurator.cpp",
+        "canprototools.cpp",
+    ],
+    shared_libs: [
+        "libbase",
+        "libbinder_ndk",
+        "libprotobuf-cpp-full",
+    ],
+    static_libs: [
+        "android.hardware.automotive.can-V1-ndk",
+        "android.hardware.automotive.can-aidl-config-format",
+    ],
+}
diff --git a/automotive/can/aidl/default/tools/configurator/canhalconfigurator-aidl.rc b/automotive/can/aidl/default/tools/configurator/canhalconfigurator-aidl.rc
new file mode 100644
index 0000000..e1b4d35
--- /dev/null
+++ b/automotive/can/aidl/default/tools/configurator/canhalconfigurator-aidl.rc
@@ -0,0 +1,3 @@
+service canhalconfigurator /system/bin/canhalconfigurator-aidl
+  class core
+  oneshot
diff --git a/automotive/can/aidl/default/tools/configurator/canhalconfigurator.cpp b/automotive/can/aidl/default/tools/configurator/canhalconfigurator.cpp
new file mode 100644
index 0000000..94e77b4
--- /dev/null
+++ b/automotive/can/aidl/default/tools/configurator/canhalconfigurator.cpp
@@ -0,0 +1,118 @@
+/*
+ * Copyright (C) 2022 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "canbus_config.pb.h"
+#include "canprototools.h"
+
+#include <aidl/android/hardware/automotive/can/ICanController.h>
+#include <android-base/logging.h>
+#include <android/binder_manager.h>
+
+#include <chrono>
+#include <thread>
+
+namespace android::hardware::automotive::can {
+
+using namespace std::string_literals;
+using ::aidl::android::hardware::automotive::can::ICanController;
+
+static constexpr std::string_view kDefaultConfigPath = "/etc/canbus_config.pb";
+
+/**
+ * Takes output from parsed protobuf config and uses it to configure the CAN HAL.
+ *
+ * \param pb_cfg is an instance of the autogenerated protobuf object for our configuration.
+ * \return boolean status, true on success, false on failure.
+ */
+static bool processPbCfg(const config::CanBusConfig& pb_cfg) {
+    for (auto const& bus : pb_cfg.buses()) {
+        if (bus.name().empty()) {
+            LOG(ERROR) << "Invalid config: Bus config must have a valid name field";
+            return false;
+        }
+
+        auto busCfgMaybe = config::fromPbBus(bus);
+        if (!busCfgMaybe.has_value()) {
+            return false;
+        }
+        auto busCfg = *busCfgMaybe;
+
+        const auto instance = ICanController::descriptor + "/default"s;
+        const auto service = ICanController::fromBinder(
+                ndk::SpAIBinder(AServiceManager_waitForService(instance.c_str())));
+        if (service == nullptr) {
+            LOG(FATAL) << "Can't find CAN HAL! (has it started yet?)";
+            return false;
+        }
+
+        LOG(VERBOSE) << "Bringing up a " << busCfg.name << " @ " << busCfg.bitrate;
+
+        std::string ifaceName;
+        const auto status = service->upBus(busCfg, &ifaceName);
+        if (!status.isOk() && status.getExceptionCode() != EX_SERVICE_SPECIFIC) {
+            LOG(FATAL) << "Binder transaction failed!" << status.getStatus();
+            return false;
+        } else if (!status.isOk()) {
+            LOG(ERROR) << "upBus failed: " << config::resultStringFromStatus(status) << ": "
+                       << status.getMessage();
+            continue;
+        }
+
+        LOG(INFO) << bus.name() << " has been successfully configured on " << ifaceName;
+    }
+    return true;
+}
+
+/**
+ * This kicks off the CAN HAL configuration process. This starts the following:
+ *     1. Reading the config file
+ *     2. Setting up CAN buses
+ *     3. Handling services
+ * \param filepath is a string specifying the absolute path of the config file
+ * \return boolean status, true on success, false on failure
+ */
+static bool configuratorStart(const std::string& filepath) {
+    base::SetDefaultTag("CanConfigurator");
+    auto pbCfg = config::parseConfigFile(filepath);
+    if (!pbCfg.has_value()) {
+        return false;
+    }
+    // process the rest of the config file data and configure the CAN buses.
+    if (!processPbCfg(*pbCfg)) {
+        return false;
+    }
+    LOG(INFO) << "CAN HAL has been configured!";
+    return true;
+}
+
+extern "C" int main(int argc, char* argv[]) {
+    std::string configFilepath = static_cast<std::string>(kDefaultConfigPath);
+
+    // allow for CLI specification of a config file.
+    if (argc == 2) {
+        configFilepath = argv[1];
+    } else if (argc > 2) {
+        std::cerr << "usage: " << argv[0] << " [optional config filepath]";
+        return 1;
+    }
+
+    if (!configuratorStart(configFilepath)) {
+        return 1;
+    }
+    return 0;
+}
+
+}  // namespace android::hardware::automotive::can
diff --git a/automotive/can/aidl/default/tools/configurator/canprototools.cpp b/automotive/can/aidl/default/tools/configurator/canprototools.cpp
new file mode 100644
index 0000000..2aea315
--- /dev/null
+++ b/automotive/can/aidl/default/tools/configurator/canprototools.cpp
@@ -0,0 +1,200 @@
+/*
+ * Copyright (C) 2022 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+#include "canprototools.h"
+
+#include <aidl/android/hardware/automotive/can/IndexedInterface.h>
+#include <aidl/android/hardware/automotive/can/NativeInterface.h>
+#include <aidl/android/hardware/automotive/can/SlcanInterface.h>
+#include <aidl/android/hardware/automotive/can/VirtualInterface.h>
+
+#include <android-base/logging.h>
+#include <google/protobuf/io/zero_copy_stream_impl.h>
+#include <google/protobuf/text_format.h>
+
+#include <fstream>
+
+namespace android::hardware::automotive::can::config {
+
+using ::aidl::android::hardware::automotive::can::BusConfig;
+using ::aidl::android::hardware::automotive::can::IndexedInterface;
+using ::aidl::android::hardware::automotive::can::InterfaceType;
+using ::aidl::android::hardware::automotive::can::NativeInterface;
+using ::aidl::android::hardware::automotive::can::Result;
+using ::aidl::android::hardware::automotive::can::SlcanInterface;
+using ::aidl::android::hardware::automotive::can::VirtualInterface;
+
+/**
+ * Helper function for parseConfigFile. readString is used to get the fist n characters (n) from an
+ * istream object (s) and return it as a string object.
+ *
+ * \param s istream of the file you intend to read.
+ * \param n streamsize object of the number of characters you'd like.
+ * \return optional string containing up to n characters from the stream(s) you provided.
+ */
+static std::optional<std::string> readString(std::istream& s, std::streamsize n) {
+    char buff[n];
+    auto got = s.read(buff, n).gcount();
+    if (!s.good() && !s.eof()) return std::nullopt;
+    return std::string(buff, 0, std::min(n, got));
+}
+
+std::optional<CanBusConfig> parseConfigFile(const std::string& filepath) {
+    std::ifstream cfg_stream(filepath);
+
+    // text headers that would be present in a plaintext proto config file.
+    static const std::array<std::string, 3> text_headers = {"buses", "#", "controller"};
+    auto cfg_file_snippet = readString(cfg_stream, 10);
+
+    if (!cfg_file_snippet.has_value()) {
+        LOG(ERROR) << "Can't open " << filepath << " for reading";
+        return std::nullopt;
+    }
+    cfg_stream.seekg(0);
+
+    // check if any of the textHeaders are at the start of the config file.
+    bool text_format = false;
+    for (auto const& header : text_headers) {
+        if (cfg_file_snippet->compare(0, header.length(), header) == 0) {
+            text_format = true;
+            break;
+        }
+    }
+
+    CanBusConfig config;
+    if (text_format) {
+        google::protobuf::io::IstreamInputStream pb_stream(&cfg_stream);
+        if (!google::protobuf::TextFormat::Parse(&pb_stream, &config)) {
+            LOG(ERROR) << "Failed to parse (text format) " << filepath;
+            return std::nullopt;
+        }
+    } else if (!config.ParseFromIstream(&cfg_stream)) {
+        LOG(ERROR) << "Failed to parse (binary format) " << filepath;
+        return std::nullopt;
+    }
+    return config;
+}
+
+std::optional<BusConfig> fromPbBus(const Bus& pb_bus) {
+    BusConfig bus_cfg = {};
+    bus_cfg.name = pb_bus.name();
+
+    switch (pb_bus.iface_type_case()) {
+        case Bus::kNative: {
+            const std::string ifname = pb_bus.native().ifname();
+            const std::vector<std::string> serials = {pb_bus.native().serialno().begin(),
+                                                      pb_bus.native().serialno().end()};
+            if (ifname.empty() == serials.empty()) {
+                LOG(ERROR) << "Invalid config: native type bus must have an iface name xor a "
+                           << "serial number";
+                return std::nullopt;
+            }
+            bus_cfg.bitrate = pb_bus.bitrate();
+            NativeInterface nativeif = {};
+            if (!ifname.empty())
+                nativeif.interfaceId.set<NativeInterface::InterfaceId::Tag::ifname>(ifname);
+            if (!serials.empty())
+                nativeif.interfaceId.set<NativeInterface::InterfaceId::Tag::serialno>(serials);
+            bus_cfg.interfaceId.set<BusConfig::InterfaceId::Tag::nativeif>(nativeif);
+            break;
+        }
+        case Bus::kSlcan: {
+            const std::string ttyname = pb_bus.slcan().ttyname();
+            const std::vector<std::string> serials = {pb_bus.slcan().serialno().begin(),
+                                                      pb_bus.slcan().serialno().end()};
+            if (ttyname.empty() == serials.empty()) {
+                LOG(ERROR) << "Invalid config: slcan type bus must have a tty name xor a serial "
+                           << "number";
+                return std::nullopt;
+            }
+            bus_cfg.bitrate = pb_bus.bitrate();
+            SlcanInterface slcan = {};
+            if (!ttyname.empty())
+                slcan.interfaceId.set<SlcanInterface::InterfaceId::Tag::ttyname>(ttyname);
+            if (!serials.empty())
+                slcan.interfaceId.set<SlcanInterface::InterfaceId::Tag::serialno>(serials);
+            bus_cfg.interfaceId.set<BusConfig::InterfaceId::Tag::slcan>(slcan);
+            break;
+        }
+        case Bus::kVirtual: {
+            // Theoretically, we could just create the next available vcan iface.
+            const std::string ifname = pb_bus.virtual_().ifname();
+            if (ifname.empty()) {
+                LOG(ERROR) << "Invalid config: native type bus must have an iface name";
+                return std::nullopt;
+            }
+            VirtualInterface virtualif = {};
+            virtualif.ifname = ifname;
+            bus_cfg.interfaceId.set<BusConfig::InterfaceId::Tag::virtualif>(virtualif);
+            break;
+        }
+        case Bus::kIndexed: {
+            const uint8_t index = pb_bus.indexed().index();
+            if (index > UINT8_MAX) {
+                LOG(ERROR) << "Interface index out of range: " << index;
+                return std::nullopt;
+            }
+            IndexedInterface indexedif = {};
+            indexedif.index = index;
+            bus_cfg.interfaceId.set<BusConfig::InterfaceId::Tag::indexed>(indexedif);
+            break;
+        }
+        default:
+            LOG(ERROR) << "Invalid config: bad interface type for " << bus_cfg.name;
+            return std::nullopt;
+    }
+    return bus_cfg;
+}
+
+std::optional<InterfaceType> getHalIftype(const Bus& pb_bus) {
+    switch (pb_bus.iface_type_case()) {
+        case Bus::kNative:
+            return InterfaceType::NATIVE;
+        case Bus::kSlcan:
+            return InterfaceType::SLCAN;
+        case Bus::kVirtual:
+            return InterfaceType::VIRTUAL;
+        case Bus::kIndexed:
+            return InterfaceType::INDEXED;
+        default:
+            return std::nullopt;
+    }
+}
+
+std::string resultStringFromStatus(const ndk::ScopedAStatus& status) {
+    const auto res = static_cast<Result>(status.getServiceSpecificError());
+    switch (res) {
+        case Result::OK:
+            return "OK";
+        case Result::UNKNOWN_ERROR:
+            return "UNKNOWN_ERROR";
+        case Result::INVALID_STATE:
+            return "INVALID_STATE";
+        case Result::NOT_SUPPORTED:
+            return "NOT_SUPPORTED";
+        case Result::BAD_INTERFACE_ID:
+            return "BAD_INTERFACE_ID";
+        case Result::BAD_BITRATE:
+            return "BAD_BITRATE";
+        case Result::BAD_BUS_NAME:
+            return "BAD_BUS_NAME";
+        case Result::INTERFACE_DOWN:
+            return "INTERFACE_DOWN";
+        default:
+            return "Invalid Result!";
+    }
+}
+
+}  // namespace android::hardware::automotive::can::config
diff --git a/automotive/can/aidl/default/tools/configurator/canprototools.h b/automotive/can/aidl/default/tools/configurator/canprototools.h
new file mode 100644
index 0000000..377ee7f
--- /dev/null
+++ b/automotive/can/aidl/default/tools/configurator/canprototools.h
@@ -0,0 +1,54 @@
+/*
+ * Copyright (C) 2022 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+#pragma once
+
+#include "canbus_config.pb.h"
+
+#include <aidl/android/hardware/automotive/can/BusConfig.h>
+#include <aidl/android/hardware/automotive/can/InterfaceType.h>
+#include <aidl/android/hardware/automotive/can/Result.h>
+
+namespace android::hardware::automotive::can::config {
+
+/**
+ * This reads the protobuf config file into a protobuf object. Both text based protobuf files as
+ * well as binary format protobuf files are supported.
+ *
+ * \param filepath string containing the name of the config file to read.
+ * \return a CanBusConfig protobuf object constructed from the config file.
+ */
+std::optional<CanBusConfig> parseConfigFile(const std::string& filepath);
+
+/**
+ * Converts protobuf format single-bus config object to a HAL bus config object.
+ *
+ * \param pb_bus is the protobuf object representing a the configuration of one CAN bus.
+ * \return a converted HAL bus config object.
+ */
+std::optional<::aidl::android::hardware::automotive::can::BusConfig> fromPbBus(const Bus& pb_bus);
+
+/**
+ * Get the CAN HAL interface type specified by a given protobuf config object.
+ *
+ * \param pb_bus is the protobuf object representing a the configuration of one CAN bus.
+ * \return the CAN HAL interface type.
+ */
+std::optional<::aidl::android::hardware::automotive::can::InterfaceType> getHalIftype(
+        const Bus& pb_bus);
+
+std::string resultStringFromStatus(const ndk::ScopedAStatus& status);
+
+}  // namespace android::hardware::automotive::can::config
diff --git a/automotive/can/aidl/default/tools/configurator/proto/Android.bp b/automotive/can/aidl/default/tools/configurator/proto/Android.bp
new file mode 100644
index 0000000..da1b37c
--- /dev/null
+++ b/automotive/can/aidl/default/tools/configurator/proto/Android.bp
@@ -0,0 +1,37 @@
+//
+// Copyright (C) 2022 The Android Open Source Project
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//      http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+
+package {
+    // See: http://go/android-license-faq
+    // A large-scale-change added 'default_applicable_licenses' to import
+    // all of the 'license_kinds' from "hardware_interfaces_license"
+    // to get the below license kinds:
+    //   SPDX-license-identifier-Apache-2.0
+    default_applicable_licenses: ["hardware_interfaces_license"],
+}
+
+cc_library_static {
+    name: "android.hardware.automotive.can-aidl-config-format",
+    defaults: ["android.hardware.automotive.can@defaults"],
+    proto: {
+        export_proto_headers: true,
+        type: "full",
+    },
+    strip: {
+        keep_symbols: true,
+    },
+    srcs: ["canbus_config.proto"],
+}
diff --git a/automotive/can/aidl/default/tools/configurator/proto/canbus_config.proto b/automotive/can/aidl/default/tools/configurator/proto/canbus_config.proto
new file mode 100644
index 0000000..b03b035
--- /dev/null
+++ b/automotive/can/aidl/default/tools/configurator/proto/canbus_config.proto
@@ -0,0 +1,52 @@
+/*
+ * Copyright (C) 2022 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+syntax = "proto3";
+
+package android.hardware.automotive.can.config;
+
+message IfaceNative {
+    string ifname = 1;
+    repeated string serialno = 2;
+};
+
+message IfaceSlcan {
+    string ttyname = 1;
+    repeated string serialno = 2;
+};
+
+message IfaceVirtual {
+    string ifname = 1;
+};
+
+message IfaceIndexed {
+    uint32 index = 1;
+};
+
+message Bus {
+    string name = 1;  // this is the name presented in the HAL
+    oneof iface_type {
+        IfaceNative native = 2;
+        IfaceSlcan slcan = 3;
+        IfaceVirtual virtual = 4;
+        IfaceIndexed indexed = 5;
+    }
+    uint32 bitrate = 6;
+};
+
+message CanBusConfig {
+    repeated Bus buses = 1;
+};