This code has been written to sniff and emulate CAN packets by using CAN Monitor-qt project avaiable at github: https://github.com/tixiv/CAN-Monitor-qt

It emulates only basic packets of CanAdapterChina class and it does not support changing any CAN parameters on demand.

CAN bus speed can be changed in code.

Keep in mind that some ESP32 devkits do not support 2000000 serial speed. CP21XX based ones can be reconfigured to support faster rates by using CP21xxCustomizationUtility from S. Labs.

Arduino-CAN library - https://github.com/sandeepmistry/arduino-CAN