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[智能网联汽车] CAN Log 文件 - ASC文件格式 [转]

时间：2024-07-16 19:40:53浏览次数：12  
标签：Status status 00 Log chip 智能网 CANFD 文件格式 error

0 引言

因工作研究需要，担心精华内容丢失。故全文转载，转载自：图文详解CAN Log文件 - ASC文件格式 - CSDN

  • 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 CAN ID 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CAN ID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、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

X 参考文献

标签：Status,status,00,Log,chip,智能网,CANFD,文件格式,error
From： https://www.cnblogs.com/johnnyzen/p/18305983

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