目录

1 CAN Log文件 -- ASC文件格式

1.1 Header

1.2 版本编号

1.3 经典CAN网络中的描述

1.3.1 经典CAN Standard标准帧的描述

1.3.2 经典CAN Extended扩展帧的描述

1.3.3 CAN Remote远程帧的描述

1.3.4 CAN Error错误帧的描述

1.4 CANFD网络中的描述

1.4.1 经典CAN Standard标准帧的描述

1.4.2 经典CAN Extended扩展帧的描述

1.4.3 CANFD Standard标准帧的描述

1.4.4 CANFD Extended扩展帧的描述

1.4.5 CAN Remote远程帧的描述

1.4.6 CAN Error错误帧的描述

1.5 换行

2 小结：如何分辨CAN Log文件中的“标准帧”和“扩展帧”

2.1 经典CAN网络中的标准帧和扩展帧

2.2 CANFD网络中的标准帧和扩展帧

结尾

---

优质博文推荐阅读（单击下方链接，即可跳转）：

Vector工具链

CAN Matrix DBC

CAN Matrix Arxml

Vector提供了两种记录数据格式的格式规范：BLF和ASC。在Vector提供的CAN_LOG_TRIGGER_ASC_Format.pdf文件中，规定了CANoe/CANalyzer ASC记录中CAN、Log和Trigger event的格式。

1 CAN Log文件 -- ASC文件格式

1.1 Header

一个ASCII格式的日志文件以一个header开始。header包含关于日志文件的一般信息。

Format	date <WeekDay> <Month> <Date> <Fulltime> <Year> base <hex |dec> timestamps <absolute |relative> <”” |no> internal events logged
Example	date Wed Apr 16 09:21:13.159 am 2014 base hex timestamps absolute internal events logged

base：表示记录的数值是hex十六进制或dec十进制的符号。

timestamps：表示时间戳是absolute绝对写入测量的开始时间还是relative相对于前一个事件。

internal：events logged表示是否记录了内部事件。

1.2 版本编号

从CANalyzer/CANoe v7.0开始，版本号以注释的形式写在Header之后：

Format Since v7.0	// version <major>.<minor>.<patch>
Example	// version 8.2.1

<major>.<minor>表示CANalyzer/CANoe的版本号

<patch>表示CANalyzer/CANoe主版本中的修改版本（如服务包中的修改）。

1.3 经典CAN网络中的描述

该部分列出了CANoe/CANalyzer ASC记录中的所有CAN event。

1.3.1 经典CAN Standard标准帧的描述

Format since v8.0	<Time> <Channel> <ID> <Dir> d <DLC> <D0> <D1>...<D8> Length = <MessageDuration> BitCount = <MessageLength> ID = <IDnum> <MessageFlags>
Example	0.003040  1  123  Tx   d 2 00 00  Length = 768000 BitCount = 67 ID = 291

ID：表示CANID的十六进制值；

Length：表示发送/接收该Frame/Message占据总线的时间，单位纳秒；

BitCount：表示发送/接收该Frame/Message由多少各Bit构成；

IDnum：表示CANID的十进制值。

举例：

date Mon Apr 10 02:24:54.471 pm 2023
base hex  timestamps absolute
internal events logged
// version 11.0.0
   0.036886 CAN 1 Status:chip status error active
   0.036886 CAN 2 Status:chip status error active
   0.101317 1  211             Tx   d 8 00 00 00 00 00 00 00 00  Length = 242015 BitCount = 124 ID = 529
   0.201267 1  211             Tx   d 8 00 00 00 00 00 00 00 00  Length = 242015 BitCount = 124 ID = 529
   0.301361 1  211             Tx   d 8 00 00 00 00 00 00 00 00  Length = 242015 BitCount = 124 ID = 529
   0.401419 1  211             Tx   d 8 00 00 00 00 00 00 00 00  Length = 242015 BitCount = 124 ID = 529

1.3.2 经典CAN Extended扩展帧的描述

Format since v8.0	<Time> <Channel> <ID>x <Dir> d <DLC> <D0> <D1>...<D8> Length = <MessageDuration> BitCount = <MessageLength> ID = <IDnum>x    <MessageFlags>
Example	4.876870  1  54C5638x  Tx   d 8 00 00 00 00 00 00 00 00  Length = 1704000 BitCount = 145 ID = 88888888x

与经典CAN标准帧的差异: ID和IDnum后带字符x。

举例：

date Mon Apr 10 02:28:37.439 pm 2023
base hex  timestamps absolute
internal events logged
// version 11.0.0
   0.021151 CAN 1 Status:chip status error active
   0.021151 CAN 2 Status:chip status error active
   0.101557 1  211x            Tx   d 8 00 00 00 00 00 00 00 00  Length = 290015 BitCount = 148 ID = 529x
   0.201483 1  211x            Tx   d 8 00 00 00 00 00 00 00 00  Length = 290015 BitCount = 148 ID = 529x
   0.301437 1  211x            Tx   d 8 00 00 00 00 00 00 00 00  Length = 290015 BitCount = 148 ID = 529x
   0.401151 1  211x            Tx   d 8 00 00 00 00 00 00 00 00  Length = 290015 BitCount = 148 ID = 529x

1.3.3 CAN Remote远程帧的描述

Format since v8.5	<Time> <Channel> <ID> <Dir> r <DLC> Length = <MessageDuration> BitCount = <MessageLength> ID = <IDnum>x
Example	2.5010  1  200  Tx   r 8 Length = 1704000 BitCount = 145 ID = 88888888x

与经典CAN标准/扩展帧的差异:没有<D0> <D1>...<D8>。

举例：

date Mon Apr 10 02:31:19.810 pm 2023
base hex  timestamps absolute
internal events logged
// version 11.0.0
   0.041478 CAN 1 Status:chip status error active
   0.041478 CAN 2 Status:chip status error active
   0.101079 1  211             Tx   r 8  Length = 88015 BitCount = 47 ID = 529
   0.101219 1  211x            Tx   r 8  Length = 134015 BitCount = 70 ID = 529x
   0.200845 1  211x            Tx   r 8  Length = 134015 BitCount = 70 ID = 529x
   0.200939 1  211             Tx   r 8  Length = 88015 BitCount = 47 ID = 529

1.3.4 CAN Error错误帧的描述

CAN Error Frame
Format since v7.5	Interfaces with CAN-Core: <Time> <Channel> ErrorFrame Flags = <flags> CodeExt = <codeExt> Code = <code> ID = <ID> DLC = <DLC> Position = <Position> Length = <Length> Flags： 定义参数Code, CodeExt, ID, DLC, Position和Length的有效性的Bit field。Bit含义： 0：SJA 1000 ECC是有效的 1：矢量CAN核心错误代码有效 2：矢量CAN核心错误位置有效 3：矢量CAN核心帧长度（ns）有效 Code： Vector CAN-Core的Bit含义： Bit 0-5： 0: Bit Error 1: Form Error 2: Stuff Error 3: Other Error 4: CRC Error 5: Ack-Del-Error 7: Ack-Error Bit 6-7： 0: RX-NAK-Error 1: TX-NAK-Error 2: RX-Error 3: TX-Error
	CodeExt：Extended error flags Bit 0-4：Segment (only SJA1000) Bit 5：Direction, 1=RX Bit 6-11：Error Code 0  Bit Error 1  Form Error 2  Stuff Error 3  Other Error 4  CRC Error 5  ACK- DEL Error 7  ACK Error Bit 12-13：Extended Direction 0  RX NAK 1  TX NAK 2  RX 3  TX Bit 14：1 =错误帧由应用程序发送 备注 1 只对带有Vector CAN-Core的接口有效（CANcardXLe, VN7600, VN16xx, VN89xx和其他）。 2 ID、DLC和data field的有效性取决于干扰的类型和位置。 例如： 如果信息在ID- field受到干扰，那么只有ID的第一个Bit可能有效，但DLC和data field无效。错误位置不是干扰的位置。 例如： 如果错误位置位于CRC-field，那么信息可能在任何其他field受到干扰，错误的CRC是该干扰的结果。
Examples	1.592186 2  ErrorFrame Flags = 0xe  CodeExt = 0x20a2  Code = 0x82  ID = 0 DLC = 0 Position = 5 Length = 11300

CAN Error Event
Format	<Time> CAN <Channel> Status:<Error> <Time> CAN <Channel> Status:<Error> - TxErr: <TxCount> RxErr: <RxCount> TxCount： transmit error count寄存器的值 RxCount： receive error count寄存器的值
Example	0.0006 CAN 2 Status:chip status error active 2137.317027 CAN 2 Status:chip status error active - TxErr: 8 RxErr: 0

举例：

date Mon Apr 10 02:33:32.536 pm 2023
base hex  timestamps absolute
internal events logged
// version 11.0.0
   0.014704 CAN 1 Status:chip status error active
   0.014704 CAN 2 Status:chip status error active
   0.100641 CAN 1 Status:chip status error active  - TxErr: 8 RxErr: 0
   0.100642 1  ErrorFrame	Flags = 0xfffe	CodeExt = 0x31d9	Code = 0xc7	ID = 0x211	DLC = 8	Position = 99	Length = 226015	Data = 0  0  0  0  0  0  0  0
   0.100901 CAN 1 Status:chip status error active  - TxErr: 16 RxErr: 0
   0.100902 1  ErrorFrame	Flags = 0xfffe	CodeExt = 0x31d9	Code = 0xc7	ID = 0x211	DLC = 8	Position = 99	Length = 226015	Data = 0  0  0  0  0  0  0  0
   0.101161 CAN 1 Status:chip status error active  - TxErr: 24 RxErr: 0
   0.101162 1  ErrorFrame	Flags = 0xfffe	CodeExt = 0x31d9	Code = 0xc7	ID = 0x211	DLC = 8	Position = 99	Length = 226015	Data = 0  0  0  0  0  0  0  0
   0.101421 CAN 1 Status:chip status error active  - TxErr: 32 RxErr: 0
   0.101422 1  ErrorFrame	Flags = 0xfffe	CodeExt = 0x31d9	Code = 0xc7	ID = 0x211	DLC = 8	Position = 99	Length = 226015	Data = 0  0  0  0  0  0  0  0
   0.101681 CAN 1 Status:chip status error active  - TxErr: 40 RxErr: 0
   0.101682 1  ErrorFrame	Flags = 0xfffe	CodeExt = 0x31d9	Code = 0xc7	ID = 0x211	DLC = 8	Position = 99	Length = 226015	Data = 0  0  0  0  0  0  0  0
   0.101941 CAN 1 Status:chip status error active  - TxErr: 48 RxErr: 0
   0.101942 1  ErrorFrame	Flags = 0xfffe	CodeExt = 0x31d9	Code = 0xc7	ID = 0x211	DLC = 8	Position = 99	Length = 226015	Data = 0  0  0  0  0  0  0  0
   0.102201 CAN 1 Status:chip status error active  - TxErr: 56 RxErr: 0
   0.102202 1  ErrorFrame	Flags = 0xfffe	CodeExt = 0x31d9	Code = 0xc7	ID = 0x211	DLC = 8	Position = 99	Length = 226015	Data = 0  0  0  0  0  0  0  0
   0.102461 CAN 1 Status:chip status error active  - TxErr: 64 RxErr: 0
   0.102462 1  ErrorFrame	Flags = 0xfffe	CodeExt = 0x31d9	Code = 0xc7	ID = 0x211	DLC = 8	Position = 99	Length = 226015	Data = 0  0  0  0  0  0  0  0
   0.102721 CAN 1 Status:chip status error active  - TxErr: 72 RxErr: 0
   0.102722 1  ErrorFrame	Flags = 0xfffe	CodeExt = 0x31d9	Code = 0xc7	ID = 0x211	DLC = 8	Position = 99	Length = 226015	Data = 0  0  0  0  0  0  0  0
   0.102981 CAN 1 Status:chip status error active  - TxErr: 80 RxErr: 0
   0.102982 1  ErrorFrame	Flags = 0xfffe	CodeExt = 0x31d9	Code = 0xc7	ID = 0x211	DLC = 8	Position = 99	Length = 226015	Data = 0  0  0  0  0  0  0  0
   0.103241 CAN 1 Status:chip status error active  - TxErr: 88 RxErr: 0
   0.103242 1  ErrorFrame	Flags = 0xfffe	CodeExt = 0x31d9	Code = 0xc7	ID = 0x211	DLC = 8	Position = 99	Length = 226015	Data = 0  0  0  0  0  0  0  0
   0.103501 CAN 1 Status:chip status warning level - TxErr: 96 RxErr: 0
   0.103502 1  ErrorFrame	Flags = 0xfffe	CodeExt = 0x31d9	Code = 0xc7	ID = 0x211	DLC = 8	Position = 99	Length = 226015	Data = 0  0  0  0  0  0  0  0
   0.103761 CAN 1 Status:chip status warning level - TxErr: 104 RxErr: 0
   0.103762 1  ErrorFrame	Flags = 0xfffe	CodeExt = 0x31d9	Code = 0xc7	ID = 0x211	DLC = 8	Position = 99	Length = 226015	Data = 0  0  0  0  0  0  0  0
   0.104021 CAN 1 Status:chip status warning level - TxErr: 112 RxErr: 0
   0.104022 1  ErrorFrame	Flags = 0xfffe	CodeExt = 0x31d9	Code = 0xc7	ID = 0x211	DLC = 8	Position = 99	Length = 226015	Data = 0  0  0  0  0  0  0  0
   0.104281 CAN 1 Status:chip status warning level - TxErr: 120 RxErr: 0
   0.104282 1  ErrorFrame	Flags = 0xfffe	CodeExt = 0x31d9	Code = 0xc7	ID = 0x211	DLC = 8	Position = 99	Length = 226015	Data = 0  0  0  0  0  0  0  0
   0.104541 CAN 1 Status:chip status error passive - TxErr: 128 RxErr: 0
   0.104542 1  ErrorFrame	Flags = 0xfffe	CodeExt = 0x31d9	Code = 0xc7	ID = 0x211	DLC = 8	Position = 99	Length = 226015	Data = 0  0  0  0  0  0  0  0
   1.014705 CAN 1 Status:chip status error passive - TxErr: 128 RxErr: 0
   1.014705 CAN 2 Status:chip status error active
   2.014705 CAN 1 Status:chip status error passive - TxErr: 128 RxErr: 0
   2.014705 CAN 2 Status:chip status error active
   3.014705 CAN 1 Status:chip status error passive - TxErr: 128 RxErr: 0
   3.014705 CAN 2 Status:chip status error active
   4.014706 CAN 1 Status:chip status error passive - TxErr: 128 RxErr: 0
   4.014706 CAN 2 Status:chip status error active
   5.014706 CAN 1 Status:chip status error passive - TxErr: 128 RxErr: 0
   5.014706 CAN 2 Status:chip status error active

1.4 CANFD网络中的描述

该部分列出了CANoe/CANalyzer ASC记录中的所有经典CAN event和CAN FD channel上的CAN FD event。

1.4.1 经典CAN Standard标准帧的描述

Format since v8.1	<Time> CANFD <Channel> <Dir> <ID> <SymbolicName> <BRS> <ESI> <DLC> <DataLength> <D1> … <D8> <MessageDuration> <MessageLength> <Flags> <CRC> <BitTimingConfArb> <BitTimingConfData> <BitTimingConfExtArb> <BitTimingConfExtData>
Example	0.105364 CANFD  1  Tx   1  0 0 1  1  01  112000  59  200040  39b5  46500250  460a0250  20011736  20010205

ID：表示CANID的十六进制值；

BRS：表示CANFD Frame的BRS位；

ESI：表示CANFD Frame的DEI位；

DLC：表示CANFD Frame的控制段DTC；

DataLength：message的有效长度，以字节为单位。

MessageDuration：表示发送/接收该Frame/Message占据总线的时间，单位纳秒；

MessageLength：表示发送/接收该Frame/Message由多少各Bit构成；

Flags：Bit含义

• Bit 0: Reserved, must be 0
• Bit 1: Reserved, for internal use
• Bit 2: 1=NERR (1=single wire on low speed CAN)
• Bit 3: 1=High voltage wake up
• Bit 4: 1=Remote frame (only CAN)
• Bit 5: Reserved, must be 0
• Bit 6: 1= Tx Acknowledge
• Bit 7: 1= Tx Request
• Bit 8: Reserved, must be 0
• Bit 9: SRR (CAN FD)
• Bit 10: R0
• Bit 11: R1
• Bit 12: FDF bit  0: CAN frame 1: CAN FD frame
• Bit 13: BRS bit (CAN FD)
• Bit 14: ESI bit (CAN FD)
• Bit 15: Reserved, must be 0
• Bit 16: Reserved, must be 0
• Bit 17: 1= Frame is part ofa burst
• Bit 18: Single shot mode: Frame could not be transmitted
• Bit 19: Single shot mode: If bit 18 set to 1, then this bit reports the reason.0 = arbitration lost 1=frame disturbed
• Bit 20: Reserved, for internal use
• Bit 21: Reserved, for internal use
• Bit 22 -31: Reserved, must be 0

CRC：message的校验和；

• Bit 0 – 20: CRC
• Bit 21 – 26: Reserved for internal use
• Bit 27 – 29: Stuff count field
• Bit 30: Stuff count field parity
• Bit 31: ISO format. 如果设置为1，那么该报文是CAN FD ISO格式，并且stuff count是有效的.

BitTimingConfArb和BitTimingConfData：指的是用于仲裁和数据段的bit timing参数。这些段可以解释为32位长的bit field。

• Bit 0-7: Quartz Frequency in kHz
• Bit 8-15: Prescaler
• Bit 16-23: BTL Cycles
• Bit 24-31: Sampling Point

BitTimingConfExtArb和BitTimingConfExtData：bit timing存储在该段中。如果bit timing不能以旧格式存储，那么<BitTimingConfArb>、<BitTimingConfData>将被设置为0。

• Bit 0 – 7: TSEG1-1
• Bit 8 – 15: TSEG2-1
• Bit 16 – 27: Prescaler
• Bit 28 – 31: Quartz Frequency (enumeration). Supported values: 0: 16 MHz, 1: 32 MHz, 2: 80 MHz

举例：

date Mon Apr 10 02:38:41.859 pm 2023
base hex  timestamps absolute
internal events logged
// version 11.0.0
   0.038849 CAN 1 Status:chip status error active
   0.038849 CAN 2 Status:chip status error active
   0.100980 CANFD   1 Tx        211                                   0 0 8  8 00 00 00 00 00 00 00 00   242015  124   200040     2a8f 50a00150 46280150 20001f7e 20000b1a
   0.200978 CANFD   1 Tx        211                                   0 0 8  8 00 00 00 00 00 00 00 00   242015  124   200040     2a8f 50a00150 46280150 20001f7e 20000b1a
   0.301134 CANFD   1 Tx        211                                   0 0 8  8 00 00 00 00 00 00 00 00   242015  124   200040     2a8f 50a00150 46280150 20001f7e 20000b1a
   0.400976 CANFD   1 Tx        211                                   0 0 8  8 00 00 00 00 00 00 00 00   242015  124   200040     2a8f 50a00150 46280150 20001f7e 20000b1a

1.4.2 经典CAN Extended扩展帧的描述

Format since v8.1	<Time> CANFD <Channel> <Dir> <ID> <SymbolicName> <BRS> <ESI> <DLC> <DataLength> <D1> … <D8> <MessageDuration> <MessageLength> <Flags> <CRC> <BitTimingConfArb> <BitTimingConfData> <BitTimingConfData> <BitTimingConfExtArb>  <BitTimingConfExtData>
Example	0.100995 CANFD  2  Rx  10001x  0 0 1  1  01  156000  82  200000  149a 46500250  460a0250  20011736  20010205

各字段的解释详见“1.4.1 经典CAN Standard标准帧的描述”。

举例：

date Mon Apr 10 02:42:26.030 pm 2023
base hex  timestamps absolute
internal events logged
// version 11.0.0
   0.035889 CAN 1 Status:chip status error active
   0.035889 CAN 2 Status:chip status error active
   0.100829 CANFD   1 Tx        211x                                  0 0 8  8 00 00 00 00 00 00 00 00   290015  148   200040      37b 50a00150 46280150 20001f7e 20000b1a
   0.200893 CANFD   1 Tx        211x                                  0 0 8  8 00 00 00 00 00 00 00 00   290015  148   200040      37b 50a00150 46280150 20001f7e 20000b1a
   0.300831 CANFD   1 Tx        211x                                  0 0 8  8 00 00 00 00 00 00 00 00   290015  148   200040      37b 50a00150 46280150 20001f7e 20000b1a
   0.400909 CANFD   1 Tx        211x                                  0 0 8  8 00 00 00 00 00 00 00 00   290015  148   200040      37b 50a00150 46280150 20001f7e 20000b1a

1.4.3 CANFD Standard标准帧的描述

Format since v8.1	<Time> CANFD <Channel> <Dir> <ID> <SymbolicName> <BRS> <ESI> <DLC> <DataLength> <D1> … <D64> <MessageDuration> <MessageLength> <Flags> <CRC> <BitTimingConfArb> <BitTimingConfData> <BitTimingConfExtArb> <BitTimingConfExtData>
Example	0.151061 CANFD  1  Tx   2  0 0 2  2  02 03  150000  78  301040  10151  46500250  460a0250  20011736  20010205

各字段的解释详见“1.4.1 经典CAN Standard标准帧的描述”。

举例：

date Mon Apr 10 02:48:53.277 pm 2023
base hex  timestamps absolute
internal events logged
// version 11.0.0
   0.046804 CAN 1 Status:chip status error active
   0.046804 CAN 2 Status:chip status error active
   0.100836 CANFD   1 Tx        211                                   1 0 8  8 00 00 00 00 00 00 00 00   107015  139   303040 f801828f 50a00150 46280150 20001f7e 20000b1a
   0.200741 CANFD   1 Tx        211                                   1 0 8  8 00 00 00 00 00 00 00 00   107015  139   303040 f801828f 50a00150 46280150 20001f7e 20000b1a
   0.300714 CANFD   1 Tx        211                                   1 0 8  8 00 00 00 00 00 00 00 00   107015  139   303040 f801828f 50a00150 46280150 20001f7e 20000b1a
   0.400735 CANFD   1 Tx        211                                   1 0 8  8 00 00 00 00 00 00 00 00   107015  139   303040 f801828f 50a00150 46280150 20001f7e 20000b1a

1.4.4 CANFD Extended扩展帧的描述

Format since v8.1	<Time> CANFD <Channel> <Dir> <ID> <SymbolicName> <BRS> <ESI> <DLC> <DataLength> <D1> … <D64> <MessageDuration> <MessageLength> <Flags> <CRC> <BitTimingConfArb> <BitTimingConfData> <BitTimingConfExtArb> <BitTimingConfExtData>
Example	0.105537 CANFD  2  Rx  10001x  0 0 1  1  01  174015  91  301000  bfd9  46500250  460a0250  20011736  20010205

各字段的解释详见“1.4.1 经典CAN Standard标准帧的描述”。

举例：

date Mon Apr 10 02:49:57.722 pm 2023
base hex  timestamps absolute
internal events logged
// version 11.0.0
   0.018020 CAN 1 Status:chip status error active
   0.018020 CAN 2 Status:chip status error active
   0.100571 CANFD   1 Tx        211x                                  1 0 8  8 00 00 00 00 00 00 00 00   151015  161   303040 80016b85 50a00150 46280150 20001f7e 20000b1a
   0.200634 CANFD   1 Tx        211x                                  1 0 8  8 00 00 00 00 00 00 00 00   151015  161   303040 80016b85 50a00150 46280150 20001f7e 20000b1a
   0.300783 CANFD   1 Tx        211x                                  1 0 8  8 00 00 00 00 00 00 00 00   151015  161   303040 80016b85 50a00150 46280150 20001f7e 20000b1a
   0.400604 CANFD   1 Tx        211x                                  1 0 8  8 00 00 00 00 00 00 00 00   151015  161   303040 80016b85 50a00150 46280150 20001f7e 20000b1a

1.4.5 CAN Remote远程帧的描述

Format	<Time> CANFD <Channel> <Dir> <ID> <SymbolicName> <BRS> <ESI> <DLC> <DataLength> <MessageDuration> <MessageLength> <Flags> <CRC>  <BitTimingConfArb> <BitTimingConfData> <BitTimingConfData>  <BitTimingConfExtArb>  <BitTimingConfExtData>
Example	0.300981 CANFD  1  Tx   50005x  0 0 5  0  140000  73  200050  7a60  46500250 460a0250  20011736  20010205

各字段的解释详见“1.4.1 经典CAN Standard标准帧的描述”。

举例：

date Mon Apr 10 02:52:19.883 pm 2023
base hex  timestamps absolute
internal events logged
// version 11.0.0
   0.026889 CAN 1 Status:chip status error active
   0.026889 CAN 2 Status:chip status error active
   0.101047 CANFD   1 Tx        211                                   0 0 8  0    88015   47   200050     2c3a 50a00150 46280150 20001f7e 20000b1a
   0.101187 CANFD   1 Tx        211x                                  0 0 8  0   134015   70   220050     6a2a 50a00150 46280150 20001f7e 20000b1a
   0.201045 CANFD   1 Tx        211x                                  0 0 8  0   134015   70   200050     6a2a 50a00150 46280150 20001f7e 20000b1a
   0.201139 CANFD   1 Tx        211                                   0 0 8  0    88015   47   220050     2c3a 50a00150 46280150 20001f7e 20000b1a

1.4.6 CAN Error错误帧的描述

CAN FD Error Frame
Format	<Time> CANFD <Channel> <Dir> ErrorFrame <ErrorText> <flags> <code> <codeExt> <Phase> <Position> <ID> <BRS> <ESI> <DLC> <DataLength> <D1> … <D64>  <MessageDuration>  <extFlags>  <CRC>  <BitTimingConfArb> <BitTimingConfData> <BitTimingConfExtArb>  <BitTimingConfExtData>  <extFlags>: extFlags(Extended error flags)： Bit 0：0: FDF is 0 (CAN Error Frame)；1: FDF is 1 (CAN FD Error Frame) Bit 1：0: BRS is 0；1: BRS is 1 Bit 2：0: ESI is 0；1: ESI is 1 Bit 3：0: Error in Arbitration Phase；1: Error in Data Phase Bit 4：0: Error is on a CAN channel；1: Error is on a CAN FD channel all others：reserved, must be set to 0
Example: Classic CAN	0.051203 CANFD  1  Rx  ErrorFrame Stuff Error  fffe 82  20a2 Arb.5  0  0 0 0  0  11984  10  0 46500250  460a0250  20011736  20010205
Example: CAN FD	10.006898 CANFD  1 Tx  ErrorFrame Not Acknowledge error, dominant error flag       fffe c7  31ca Arb.556  44  0 0 f  64  00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00  1331984  11  0      46500250  460a0250  20011736  20010205

各字段的解释详见“1.4.1 经典CAN Standard标准帧的描述”。

举例：

date Mon Apr 10 02:55:04.694 pm 2023
base hex  timestamps absolute
internal events logged
// version 11.0.0
   0.036456 CAN 1 Status:chip status error active
   0.036456 CAN 2 Status:chip status error active
   0.100770 CAN 1 Status:chip status error active  - TxErr: 8 RxErr: 0
   0.100770 CANFD   1 Tx   ErrorFrame Not Acknowledge error, dominant error flag       fffe c7     31da Arb. 109      211  1 0 8  8 00 00 00 00 00 00 00 00    93015       13 f8000000 50a00150 46280150 20001f7e 20000b1a
   0.100897 CAN 1 Status:chip status error active  - TxErr: 16 RxErr: 0
   0.100897 CANFD   1 Tx   ErrorFrame Not Acknowledge error, dominant error flag       fffe c7     31da Arb. 109      211  1 0 8  8 00 00 00 00 00 00 00 00    93015       13 f8000000 50a00150 46280150 20001f7e 20000b1a
   0.101024 CAN 1 Status:chip status error active  - TxErr: 24 RxErr: 0
   0.101024 CANFD   1 Tx   ErrorFrame Not Acknowledge error, dominant error flag       fffe c7     31da Arb. 109      211  1 0 8  8 00 00 00 00 00 00 00 00    93015       13 f8000000 50a00150 46280150 20001f7e 20000b1a
   0.101151 CAN 1 Status:chip status error active  - TxErr: 32 RxErr: 0
   0.101151 CANFD   1 Tx   ErrorFrame Not Acknowledge error, dominant error flag       fffe c7     31da Arb. 109      211  1 0 8  8 00 00 00 00 00 00 00 00    93015       13 f8000000 50a00150 46280150 20001f7e 20000b1a
   0.101278 CAN 1 Status:chip status error active  - TxErr: 40 RxErr: 0
   0.101278 CANFD   1 Tx   ErrorFrame Not Acknowledge error, dominant error flag       fffe c7     31da Arb. 109      211  1 0 8  8 00 00 00 00 00 00 00 00    93015       13 f8000000 50a00150 46280150 20001f7e 20000b1a
   0.101405 CAN 1 Status:chip status error active  - TxErr: 48 RxErr: 0
   0.101405 CANFD   1 Tx   ErrorFrame Not Acknowledge error, dominant error flag       fffe c7     31da Arb. 109      211  1 0 8  8 00 00 00 00 00 00 00 00    93015       13 f8000000 50a00150 46280150 20001f7e 20000b1a
   0.101532 CAN 1 Status:chip status error active  - TxErr: 56 RxErr: 0
   0.101532 CANFD   1 Tx   ErrorFrame Not Acknowledge error, dominant error flag       fffe c7     31da Arb. 109      211  1 0 8  8 00 00 00 00 00 00 00 00    93015       13 f8000000 50a00150 46280150 20001f7e 20000b1a
   0.101659 CAN 1 Status:chip status error active  - TxErr: 64 RxErr: 0
   0.101659 CANFD   1 Tx   ErrorFrame Not Acknowledge error, dominant error flag       fffe c7     31da Arb. 109      211  1 0 8  8 00 00 00 00 00 00 00 00    93015       13 f8000000 50a00150 46280150 20001f7e 20000b1a
   0.101786 CAN 1 Status:chip status error active  - TxErr: 72 RxErr: 0
   0.101786 CANFD   1 Tx   ErrorFrame Not Acknowledge error, dominant error flag       fffe c7     31da Arb. 109      211  1 0 8  8 00 00 00 00 00 00 00 00    93015       13 f8000000 50a00150 46280150 20001f7e 20000b1a
   0.101913 CAN 1 Status:chip status error active  - TxErr: 80 RxErr: 0
   0.101913 CANFD   1 Tx   ErrorFrame Not Acknowledge error, dominant error flag       fffe c7     31da Arb. 109      211  1 0 8  8 00 00 00 00 00 00 00 00    93015       13 f8000000 50a00150 46280150 20001f7e 20000b1a
   0.102040 CAN 1 Status:chip status error active  - TxErr: 88 RxErr: 0
   0.102040 CANFD   1 Tx   ErrorFrame Not Acknowledge error, dominant error flag       fffe c7     31da Arb. 109      211  1 0 8  8 00 00 00 00 00 00 00 00    93015       13 f8000000 50a00150 46280150 20001f7e 20000b1a
   0.102167 CAN 1 Status:chip status warning level - TxErr: 96 RxErr: 0
   0.102167 CANFD   1 Tx   ErrorFrame Not Acknowledge error, dominant error flag       fffe c7     31da Arb. 109      211  1 0 8  8 00 00 00 00 00 00 00 00    93015       13 f8000000 50a00150 46280150 20001f7e 20000b1a
   0.102294 CAN 1 Status:chip status warning level - TxErr: 104 RxErr: 0
   0.102294 CANFD   1 Tx   ErrorFrame Not Acknowledge error, dominant error flag       fffe c7     31da Arb. 109      211  1 0 8  8 00 00 00 00 00 00 00 00    93015       13 f8000000 50a00150 46280150 20001f7e 20000b1a
   0.102421 CAN 1 Status:chip status warning level - TxErr: 112 RxErr: 0
   0.102421 CANFD   1 Tx   ErrorFrame Not Acknowledge error, dominant error flag       fffe c7     31da Arb. 109      211  1 0 8  8 00 00 00 00 00 00 00 00    93015       13 f8000000 50a00150 46280150 20001f7e 20000b1a
   0.102548 CAN 1 Status:chip status warning level - TxErr: 120 RxErr: 0
   0.102548 CANFD   1 Tx   ErrorFrame Not Acknowledge error, dominant error flag       fffe c7     31da Arb. 109      211  1 0 8  8 00 00 00 00 00 00 00 00    93015       13 f8000000 50a00150 46280150 20001f7e 20000b1a
   0.102675 CAN 1 Status:chip status error passive - TxErr: 128 RxErr: 0
   0.102675 CANFD   1 Tx   ErrorFrame Not Acknowledge error, dominant error flag       fffe c7     31da Arb. 109      211  1 0 8  8 00 00 00 00 00 00 00 00    93015       13 f8000000 50a00150 46280150 20001f7e 20000b1a
   1.036456 CAN 1 Status:chip status error passive - TxErr: 128 RxErr: 0
   1.036456 CAN 2 Status:chip status error active
   2.036457 CAN 1 Status:chip status error passive - TxErr: 128 RxErr: 0
   2.036457 CAN 2 Status:chip status error active
   3.036457 CAN 1 Status:chip status error passive - TxErr: 128 RxErr: 0
   3.036457 CAN 2 Status:chip status error active

1.5 换行

换行是用CR+LF表示的编码。

2 小结：如何分辨CAN Log文件中的“标准帧”和“扩展帧”

2.1 经典CAN网络中的标准帧和扩展帧

经典CAN网络中的标准帧和扩展帧的差异:

• 经典CAN标准帧的ID和IDnum字段后不带字符x；
• 经典CAN扩展帧的ID和IDnum字段后带字符x。

举例：

date Mon Apr 10 04:24:18.233 pm 2023
base hex  timestamps absolute
internal events logged
// version 11.0.0
   0.028996 CAN 1 Status:chip status error active
   0.028996 CAN 2 Status:chip status error active
   0.101449 1  211             Tx   d 8 00 00 00 00 00 00 00 00  Length = 242015 BitCount = 124 ID = 529
   0.101745 1  211x            Tx   d 8 00 00 00 00 00 00 00 00  Length = 290015 BitCount = 148 ID = 529x
   0.201469 1  211x            Tx   d 8 00 00 00 00 00 00 00 00  Length = 290015 BitCount = 148 ID = 529x
   0.201717 1  211             Tx   d 8 00 00 00 00 00 00 00 00  Length = 242015 BitCount = 124 ID = 529

2.2 CANFD网络中的标准帧和扩展帧

CANFD网络中，可能同时存在：经典CAN标准帧，经典CAN扩展帧，CANFD标准帧，CANFD扩展帧。

• 经典CAN/CANFD标准帧的ID字段后不带字符x；
• 经典CAN/CANFD扩展帧的ID字段后带字符x；
• Flags字段的的Bit 12: FDF bit，其0表示经典CAN frame；1表示CAN FD frame。

举例：

date Mon Apr 10 03:28:33.279 pm 2023
base hex  timestamps absolute
internal events logged
// version 11.0.0
   0.008330 CAN 1 Status:chip status error active
   0.008330 CAN 2 Status:chip status error active
   0.100736 CANFD   1 Tx        211                                   1 0 8  8 00 00 00 00 00 00 00 00   107015  139   303040 f801828f 50a00150 46280150 20001f7e 20000b1a
   0.100893 CANFD   1 Tx        211x                                  1 0 8  8 00 00 00 00 00 00 00 00   151015  161   323040 80016b85 50a00150 46280150 20001f7e 20000b1a
   0.101141 CANFD   1 Tx        211                                   0 0 8  8 00 00 00 00 00 00 00 00   242015  124   220040     2a8f 50a00150 46280150 20001f7e 20000b1a
   0.101437 CANFD   1 Tx        211x                                  0 0 8  8 00 00 00 00 00 00 00 00   290015  148   220040      37b 50a00150 46280150 20001f7e 20000b1a

结尾

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