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Please read and act according to this link: How to get the best out of this forum - Using Arduino / Project Guidance - Arduino Forum
Help You to read the link or what?
Yes. On purpose.
Your description lacks a lot. Is the esp32 supposed to read one CAN buss and send the data out on another CAN bus?
What will the setup look like? What hardware have You got? What code do You have in use.....
If You want help take the hat off and pay attention to the replies.
Forum is not a factory creating toys for members who don't contribute themselves.
Good night.
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