https://github.com/nopnop2002/esp-idf-can2mqtt
CANbus to mqtt bridge using esp32
https://github.com/nopnop2002/esp-idf-can2mqtt
bridge can can-bus esp-idf esp32 mqtt
Last synced: 4 months ago
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CANbus to mqtt bridge using esp32
- Host: GitHub
- URL: https://github.com/nopnop2002/esp-idf-can2mqtt
- Owner: nopnop2002
- License: mit
- Created: 2021-06-27T10:39:10.000Z (about 4 years ago)
- Default Branch: main
- Last Pushed: 2024-12-26T08:42:47.000Z (7 months ago)
- Last Synced: 2025-02-27T09:12:30.328Z (5 months ago)
- Topics: bridge, can, can-bus, esp-idf, esp32, mqtt
- Language: C
- Homepage:
- Size: 52.7 KB
- Stars: 44
- Watchers: 5
- Forks: 8
- Open Issues: 6
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# esp-idf-can2mqtt
CANbus to mqtt bridge using esp32.
It's purpose is to be a bridge between a CAN-Bus and a MQTT-Broker.
You can map CAN-ID to MQTT-Topics and map each payload to a message.
I inspired from [here](https://github.com/c3re/can2mqtt).
I quoted this image from [here](http://www.adfweb.com/download/filefold/MN67939_ENG.pdf).
You can visualize CAN-Frame using a JavaScript library such as Epoch.
This is using the postman application.
# Software requirement
ESP-IDF V5.0 or later.
ESP-IDF V4.4 release branch reached EOL in July 2024.
# Hardware requirements
- SN65HVD23x CAN-BUS Transceiver
SN65HVD23x series has 230/231/232.
They differ in standby/sleep mode functionality.
Other features are the same.
- Termination resistance
I used 150 ohms.
# Wireing
|SN65HVD23x||ESP32|ESP32-S2/S3|ESP32-C3/C6||
|:-:|:-:|:-:|:-:|:-:|:-:|
|D(CTX)|--|GPIO21|GPIO17|GPIO0|(*1)|
|GND|--|GND|GND|GND||
|Vcc|--|3.3V|3.3V|3.3V||
|R(CRX)|--|GPIO22|GPIO18|GPIO1|(*1)|
|Vref|--|N/C|N/C|N/C||
|CANL|--||||To CAN Bus|
|CANH|--||||To CAN Bus|
|RS|--|GND|GND|GND|(*2)|
(*1) You can change using menuconfig. But it may not work with other GPIOs.
(*2) N/C for SN65HVD232
# Test Circuit
```
+-----------+ +-----------+ +-----------+
| Atmega328 | | Atmega328 | | ESP32 |
| | | | | |
| Transmit | | Receive | | 21 22 |
+-----------+ +-----------+ +-----------+
| | | | | |
+-----------+ +-----------+ | |
| | | | | |
| MCP2515 | | MCP2515 | | |
| | | | | |
+-----------+ +-----------+ | |
| | | | | |
+-----------+ +-----------+ +-----------+
| | | | | D R |
| MCP2551 | | MCP2551 | | VP230 |
| H L | | H L | | H L |
+-----------+ +-----------+ +-----------+
| | | | | |
+--^^^--+ | | +--^^^--+
| R1 | | | | R2 |
|---+-------|-------+-------|-------+-------|---| BackBorn H
| | |
| | |
| | |
|-----------+---------------+---------------+---| BackBorn L
+--^^^--+:Terminaror register
R1:120 ohms
R2:150 ohms(Not working at 120 ohms)
```
__NOTE__
3V CAN Trasnceviers like VP230 are fully interoperable with 5V CAN trasnceviers like MCP2551.
Check [here](http://www.ti.com/lit/an/slla337/slla337.pdf).
# Installation
```
git clone https://github.com/nopnop2002/esp-idf-can2mqtt
cd esp-idf-can2mqtt
idf.py set-target {esp32/esp32s2/esp32s3/esp32c3/esp32c6}
idf.py menuconfig
idf.py flash
```
# Configuration
## CAN Setting
## WiFi Setting
## MQTT Server Setting
### Select Transport
This project supports TCP,SSL/TLS,WebSocket and WebSocket Secure Port.
- Using TCP Port.
- Using SSL/TLS Port.
SSL/TLS Port uses the MQTTS protocol instead of the MQTT protocol.
- Using WebSocket Port.
WebSocket Port uses the WS protocol instead of the MQTT protocol.
- Using WebSocket Secure Port.
WebSocket Secure Port uses the WSS protocol instead of the MQTT protocol.
__Note for using secure port.__
The default MQTT server is ```broker.emqx.io```.
If you use a different server, you will need to modify ```getpem.sh``` to run.
```
chmod 777 getpem.sh
./getpem.sh
```
WebSocket/WebSocket Secure Port may differ depending on the broker used.
If you use a different server, you will need to change the port number from the default.
__Note for using MQTTS/WS/WSS transport.__
If you use MQTTS/WS/WSS transport, you can still publish and subscribe using MQTT transport.
```
+----------+ +----------+ +----------+
| | | | | |
| ESP32 | ---MQTTS/WS/WSS-->| Broker | ---MQTT-->|Subsctiber|
| | | | | |
+----------+ +----------+ +----------+
+----------+ +----------+ +----------+
| | | | | |
| ESP32 | <--MQTTS/WS/WSS---| Broker | <--MQTT---|Publisher |
| | | | | |
+----------+ +----------+ +----------+
```
### Specifying an MQTT Broker
You can specify your MQTT broker in one of the following ways:
- IP address
```192.168.10.20```
- mDNS host name
```mqtt-broker.local```
- Fully Qualified Domain Name
```broker.emqx.io```
You can use this as broker.
https://github.com/nopnop2002/esp-idf-mqtt-broker
### Secure Option
Specifies the username and password if the server requires a password when connecting.
[Here's](https://www.digitalocean.com/community/tutorials/how-to-install-and-secure-the-mosquitto-mqtt-messaging-broker-on-debian-10) how to install and secure the Mosquitto MQTT messaging broker on Debian 10.
# Definition from CANbus to MQTT
When CANbus data is received, it is sent by MQTT according to csv/can2mqtt.csv.
The file can2mqtt.csv has three columns.
In the first column you need to specify the CAN Frame type.
The CAN frame type is either S(Standard frame) or E(Extended frame).
In the second column you have to specify the CAN-ID as a __hexdecimal number__.
In the last column you have to specify the MQTT-Topic.
Each CAN-ID and each MQTT-Topic is allowed to appear only once in the whole file.
```
S,101,/can/std/101
E,101,/can/ext/101
S,103,/can/std/103
E,103,/can/ext/103
```
When a Standard CAN frame with ID 0x101 is received, it is sent by TOPIC of "/can/std/101".
When a Extended CAN frame with ID 0x101 is received, it is sent by TOPIC of "/can/ext/101".
# Definition from MQTT to CANbus
When MQTT data is received, it is sent by CANbus according to csv/mqtt2can.csv.
Same format as can2mqtt.csv.
```
S,201,/can/std/201
E,201,/can/ext/201
S,203,/can/std/203
E,203,/can/ext/203
```
When receiving the TOPIC of "/can/std/201", send the Standard CAN frame with ID 0x201.
When receiving the TOPIC of "/can/ext/201", send the Extended CAN frame with ID 0x201.
# Receive MQTT data using mosquitto_sub
```mosquitto_sub -h broker.emqx.io -p 1883 -t '/can/#' -F %X -d```
1011121314151617 indicates 8 bytes of CAN-BUS data at 0x10-0x11-0x12-0x13-0x14-0x15-0x16-017.
# Transmit MQTT data using mosquitto_pub
- Send standard frame data with CANID = 0x201.
```echo -ne "\x01\x02\x03" | mosquitto_pub -h broker.emqx.io -p 1883 -t '/can/std/201' -s```
Receive CANbus using UNO.
- Send extended frame data with CANID = 0x201.
```echo -ne "\x11\x12\x13" | mosquitto_pub -h broker.emqx.io -p 1883 -t '/can/ext/201' -s```
Receive CANbus using UNO.
# Receive MQTT data using python
```
python3 -m pip install -U paho-mqtt
python3 mqtt_sub.py
```
# MQTT client Example
Example code in various languages.
https://github.com/emqx/MQTT-Client-Examples
# Visualize CAN-Frame
## Using python
There is a lot of information on the internet about the Python + visualization library.
- [matplotlib](https://matplotlib.org/)
- [seaborn](https://seaborn.pydata.org/index.html)
- [bokeh](https://bokeh.org/)
- [plotly](https://plotly.com/python/)
## Using node.js
There is a lot of information on the internet about the node.js + __real time__ visualization library.
- [epoch](https://epochjs.github.io/epoch/real-time/)
- [plotly](https://plotly.com/javascript/streaming/)
- [chartjs-plugin-streaming](https://nagix.github.io/chartjs-plugin-streaming/1.9.0/)
## Using postman application
Postman works as a native app on all major operating systems including Linux (32-bit/64-bit), macOS, and Windows (32-bit/64-bit).
Postman supports MQTT visualization.
You do not need to create a application for visualization.
[Here's](https://blog.postman.com/postman-supports-mqtt-apis/) how to get started with MQTT with Postman.
## Using mqttx
MQTTX is an open source cross-platform MQTT 5.0 desktop client tool.
Can be used with macOS, Linux, and Windows.
# Troubleshooting
There is a module of SN65HVD230 like this.
There is a __120 ohms__ terminating resistor on the left side.
I have removed the terminating resistor.
And I used a external resistance of __150 ohms__.
A transmission fail is fixed.
If the transmission fails, these are the possible causes.
- There is no receiving app on CanBus.
- The speed does not match the receiver.
- There is no terminating resistor on the CanBus.
- There are three terminating resistors on the CanBus.
- The resistance value of the terminating resistor is incorrect.
- Stub length in CAN bus is too long. See [here](https://e2e.ti.com/support/interface-group/interface/f/interface-forum/378932/iso1050-can-bus-stub-length).
# Reference
https://github.com/nopnop2002/esp-idf-candump
https://github.com/nopnop2002/esp-idf-can2http
https://github.com/nopnop2002/esp-idf-can2usb
https://github.com/nopnop2002/esp-idf-can2websocket
https://github.com/nopnop2002/esp-idf-can2socket
https://github.com/nopnop2002/esp-idf-CANBus-Monitor
https://github.com/nopnop2002/esp-idf-mqtt-client