diff --git a/firmware/controllers/can/can.h b/firmware/controllers/can/can.h
index f16077534f..76219ca792 100644
--- a/firmware/controllers/can/can.h
+++ b/firmware/controllers/can/can.h
@@ -7,11 +7,10 @@
 
 #pragma once
 
-#if ! EFI_PROD_CODE
+#if !EFI_PROD_CODE || !EFI_CAN_SUPPORT
 #include "can_mocks.h"
 #endif // EFI_PROD_CODE
 
-
 #if !EFI_UNIT_TEST
 #include "hal.h"
 #endif // EFI_UNIT_TEST
diff --git a/firmware/controllers/lua/lua_can_rx.cpp b/firmware/controllers/lua/lua_can_rx.cpp
index aa81bef5bc..ab82a9d699 100644
--- a/firmware/controllers/lua/lua_can_rx.cpp
+++ b/firmware/controllers/lua/lua_can_rx.cpp
@@ -3,7 +3,6 @@
 #if EFI_CAN_SUPPORT
 
 #include "rusefi_lua.h"
-#include "can.h"
 
 static constexpr size_t maxFilterCount = 48;
 
diff --git a/firmware/controllers/lua/rusefi_lua.h b/firmware/controllers/lua/rusefi_lua.h
index 14b452519b..cb056e4365 100644
--- a/firmware/controllers/lua/rusefi_lua.h
+++ b/firmware/controllers/lua/rusefi_lua.h
@@ -53,6 +53,9 @@ void testLuaExecString(const char* script);
 #endif
 
 #if EFI_CAN_SUPPORT
+
+#include "can.h"
+
 // Lua CAN rx feature
 void initLuaCanRx();
 // Called when the user script is unloaded, resets any CAN rx filters
diff --git a/firmware/controllers/sensors/AemXSeriesLambda.cpp b/firmware/controllers/sensors/AemXSeriesLambda.cpp
index 926466c104..e880679a4b 100644
--- a/firmware/controllers/sensors/AemXSeriesLambda.cpp
+++ b/firmware/controllers/sensors/AemXSeriesLambda.cpp
@@ -1,6 +1,6 @@
 #include "pch.h"
 
-#if EFI_CAN_SUPPORT
+#if EFI_CAN_SUPPORT || EFI_UNIT_TEST
 #include "AemXSeriesLambda.h"
 
 AemXSeriesWideband::AemXSeriesWideband(uint8_t sensorIndex, SensorType type)
diff --git a/firmware/controllers/sensors/can_sensor.h b/firmware/controllers/sensors/can_sensor.h
index f4394e1acb..970705ee0e 100644
--- a/firmware/controllers/sensors/can_sensor.h
+++ b/firmware/controllers/sensors/can_sensor.h
@@ -9,7 +9,6 @@
 
 #include "stored_value_sensor.h"
 #include "scaled_channel.h"
-#include "hal.h"
 #include "can_msg_tx.h"
 #include "obd2.h"
 #include "can.h"
@@ -54,6 +53,8 @@ private:
 	const uint8_t m_offset;
 };
 
+#if EFI_PROD_CODE
+
 template <int Size, int Offset>
 class ObdCanSensor: public CanSensorBase {
 public:
@@ -95,3 +96,5 @@ public:
 	int PID;
 	float Scale;
 };
+
+#endif // EFI_PROD_CODE
diff --git a/firmware/controllers/sensors/sensor_info_printing.cpp b/firmware/controllers/sensors/sensor_info_printing.cpp
index bc1c2b439d..0baac735de 100644
--- a/firmware/controllers/sensors/sensor_info_printing.cpp
+++ b/firmware/controllers/sensors/sensor_info_printing.cpp
@@ -24,7 +24,7 @@ void FunctionalSensor::showInfo(const char* sensorName) const {
 	}
 }
 
-#if EFI_CAN_SUPPORT
+#if EFI_CAN_SUPPORT || EFI_UNIT_TEST
 #include "can_sensor.h"
 
 void CanSensorBase::showInfo(const char* sensorName) const {
diff --git a/unit_tests/tests/test_can_wideband.cpp b/unit_tests/tests/test_can_wideband.cpp
new file mode 100644
index 0000000000..f4d40ab89d
--- /dev/null
+++ b/unit_tests/tests/test_can_wideband.cpp
@@ -0,0 +1,57 @@
+#include "pch.h"
+
+#include "AemXSeriesLambda.h"
+
+using ::testing::StrictMock;
+using ::testing::_;
+
+TEST(CanWideband, DecodeValid) {
+	Sensor::resetRegistry();
+
+	AemXSeriesWideband dut(0, SensorType::Lambda1);
+	dut.Register();
+
+	// check not set
+	EXPECT_FLOAT_EQ(-1, Sensor::get(SensorType::Lambda1).value_or(-1));
+
+	CANRxFrame frame;
+
+	frame.SID = 0x180;
+	frame.IDE = false;
+
+	frame.DLC = 8;
+
+	frame.data8[0] = 0x1F;	// 8000, lambda 0.8
+	frame.data8[1] = 0x40;
+	frame.data8[2] = 0;
+	frame.data8[3] = 0;
+	frame.data8[4] = 0;
+	frame.data8[5] = 0;
+	frame.data8[6] =
+		1 << 1 |	// LSU 4.9 detected
+		1 << 7;		// Data valid
+	frame.data8[7] = 0;
+
+	// check that lambda updates
+	dut.processFrame(frame, getTimeNowNt());
+	EXPECT_FLOAT_EQ(0.8f, Sensor::get(SensorType::Lambda1).value_or(-1));
+
+
+	// Now check invalid data
+	frame.data8[6] =
+		1 << 1 |	// LSU 4.9 detected
+		0 << 7;		// Data INVALID
+
+	dut.processFrame(frame, getTimeNowNt());
+	EXPECT_FLOAT_EQ(-1, Sensor::get(SensorType::Lambda1).value_or(-1));
+
+
+	// Now check sensor fault
+	frame.data8[6] =
+		1 << 1 |	// LSU 4.9 detected
+		1 << 7;		// Data valid
+	frame.data8[7] = 1 << 6; // Sensor fault!
+
+	dut.processFrame(frame, getTimeNowNt());
+	EXPECT_FLOAT_EQ(-1, Sensor::get(SensorType::Lambda1).value_or(-1));
+}
diff --git a/unit_tests/tests/tests.mk b/unit_tests/tests/tests.mk
index bca6291a46..1d5915638a 100644
--- a/unit_tests/tests/tests.mk
+++ b/unit_tests/tests/tests.mk
@@ -86,6 +86,7 @@ TESTS_SRC_CPP = \
 	tests/trigger/test_all_triggers.cpp \
 	tests/test_can_rx.cpp \
 	tests/test_can_serial.cpp \
+	tests/test_can_wideband.cpp \
 	tests/test_hellen_board_id.cpp \
 	tests/sensor/test_frequency_sensor.cpp \
 	tests/sensor/test_turbocharger_speed_converter.cpp \