Multi-ECU CAN Control & Diagnostics System

A multi-ECU CAN bus control and diagnostics system implemented using ESP32 (ESP-IDF) and a Raspberry Pi 5 verification node.
The project models an automotive-style CAN network with independent ECUs exchanging heartbeat, status, and command messages, with fault detection and bus monitoring.

Overview

This repository contains firmware for two independent ESP32-based ECUs connected via a CAN bus, along with a Raspberry Pi 5 used as a Linux-based CAN analysis and verification node.

ECU A

• Periodic heartbeat transmission
• Command handling (e.g., LED control)
• Monitoring ECU B alive messages with CRC validation and timeout detection
• CAN bus state monitoring and bus-off recovery

ECU B

• Alive/status message transmission
• State reporting (OK / DEGRADED / SAFE)
• CAN error counter reporting and health monitoring

Raspberry Pi 5

• SocketCAN interface
• CAN traffic monitoring and injection using can-utils
• Independent verification of bus behavior and message timing

To-do

• Cleanup and add to README.md
• Shared ecu_common ESP-IDF component for protocol logic
• UDS-style diagnostic services

Gallery

Physical bus mockup

ECU_A diagnostic messages

ECU_B diagnostic messages

cangaroo bus diagnostic data