diff --git a/hal/src/main/java/org/wpilib/hardware/hal/CANBusMap.java b/hal/src/main/java/org/wpilib/hardware/hal/CANBusMap.java
new file mode 100644
index 0000000000..baa41dd71f
--- /dev/null
+++ b/hal/src/main/java/org/wpilib/hardware/hal/CANBusMap.java
@@ -0,0 +1,37 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package org.wpilib.hardware.hal;
+
+public final class CANBusMap {
+  public static final int CAN_S0 = 0;
+  public static final int CAN_S1 = 1;
+  public static final int CAN_S2 = 2;
+  public static final int CAN_S3 = 3;
+  public static final int CAN_S4 = 4;
+  public static final int CAN_D0 = 5;
+  public static final int CAN_D1 = 6;
+  public static final int CAN_D2 = 7;
+  public static final int CAN_D3 = 8;
+  public static final int CAN_D4 = 9;
+  public static final int CAN_D5 = 10;
+  public static final int CAN_D6 = 11;
+  public static final int CAN_D7 = 12;
+  public static final int CAN_D8 = 13;
+  public static final int CAN_D9 = 14;
+  public static final int CAN_D10 = 15;
+  public static final int CAN_D11 = 16;
+  public static final int CAN_D12 = 17;
+  public static final int CAN_D13 = 18;
+  public static final int CAN_D14 = 19;
+  public static final int CAN_D15 = 20;
+  public static final int CAN_D16 = 21;
+  public static final int CAN_D17 = 22;
+  public static final int CAN_D18 = 23;
+  public static final int CAN_D19 = 24;
+
+  private CANBusMap() {
+    throw new UnsupportedOperationException("This is a utility class!");
+  }
+}
diff --git a/hal/src/main/native/include/wpi/hal/CANBusMap.h b/hal/src/main/native/include/wpi/hal/CANBusMap.h
new file mode 100644
index 0000000000..e290a6bccf
--- /dev/null
+++ b/hal/src/main/native/include/wpi/hal/CANBusMap.h
@@ -0,0 +1,45 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <stdint.h>
+
+#include "wpi/hal/Types.h"
+
+/**
+ * @defgroup hal_canapi CAN BUS Mapping Enums
+ * @ingroup hal_capi
+ * @{
+ */
+
+HAL_ENUM(HAL_CANBusMap) {
+  HAL_CAN_BUS_S0 = 0,
+  HAL_CAN_BUS_S1 = 1,
+  HAL_CAN_BUS_S2 = 2,
+  HAL_CAN_BUS_S3 = 3,
+  HAL_CAN_BUS_S4 = 4,
+  HAL_CAN_BUS_D0 = 5,
+  HAL_CAN_BUS_D1 = 6,
+  HAL_CAN_BUS_D2 = 7,
+  HAL_CAN_BUS_D3 = 8,
+  HAL_CAN_BUS_D4 = 9,
+  HAL_CAN_BUS_D5 = 10,
+  HAL_CAN_BUS_D6 = 11,
+  HAL_CAN_BUS_D7 = 12,
+  HAL_CAN_BUS_D8 = 13,
+  HAL_CAN_BUS_D9 = 14,
+  HAL_CAN_BUS_D10 = 15,
+  HAL_CAN_BUS_D11 = 16,
+  HAL_CAN_BUS_D12 = 17,
+  HAL_CAN_BUS_D13 = 18,
+  HAL_CAN_BUS_D14 = 19,
+  HAL_CAN_BUS_D15 = 20,
+  HAL_CAN_BUS_D16 = 21,
+  HAL_CAN_BUS_D17 = 22,
+  HAL_CAN_BUS_D18 = 23,
+  HAL_CAN_BUS_D19 = 24,
+};
+
+/** @} */
diff --git a/hal/src/test/native/cpp/can/CANTest.cpp b/hal/src/test/native/cpp/can/CANTest.cpp
index 381ea36f61..05a234b05b 100644
--- a/hal/src/test/native/cpp/can/CANTest.cpp
+++ b/hal/src/test/native/cpp/can/CANTest.cpp
@@ -8,6 +8,7 @@
 #include <gtest/gtest.h>
 
 #include "wpi/hal/CANAPI.h"
+#include "wpi/hal/CANBusMap.h"
 #include "wpi/hal/simulation/CanData.h"
 
 namespace wpi::hal {
@@ -44,7 +45,7 @@ struct CANSendCallbackStore {
 TEST(CANTest, CanIdPacking) {
   int32_t status = 0;
   int32_t deviceId = 12;
-  CANTestStore testStore(0, deviceId, &status);
+  CANTestStore testStore(HAL_CAN_BUS_S0, deviceId, &status);
   ASSERT_EQ(0, status);
 
   std::pair<int32_t, bool> storePair;