Can Data Frame Format - ZLG CANDTU-400EWGR User Manual

CANDTU-400EWGR
CAN Bus Message Records and Wireless Data Transmission Equipment Series Products
Calculation method of the absolute time of the CAN message:
( Absolute timestamp T
=
The absolute time can be converted by calling the system function localtime.

5.2 CAN Data Frame Format

Parameter
Time stamp
Message ID
Message flag
Message
channel
Data length
Data
When [bit7] in the message flag is an error message or the value of [bit31:29] in the
message ID is 3, the message is an error frame.
The data length of the error frame is 5 bytes. Its data format is as follows.
Absolute timestamp of CAN messages T
+ Relative timestamp of CAN messages T
base
1000
Table 5 CAN message packet format definition
Parameter Size
(Byte)
Current message received (time unit:
4
100 us)
CAN frame ID
[bit28:0]: Frame ID
4 [bit31:29]: Packet type:
CAN message flag:
[bit7]: 1: Error message 0: Normal
message
[bit6]: 1: Extended frame, 0: Standard
frame
[bit5]: 1: Remote frame, 0: Data frame
2
[bit4]: Reserved
[bit3:0]: Send type:
0: normal send
1: single send
2: Self-send and self-receive
3: One-time self-send and self-receive
CAN channel
1
1 CAN message data length
8 CAN message data
©2021 Guangzhou ZLG Microelectronics Technology Corp.,Ltd.
18
∗ 0.1 )
can
− 8 ∗ 3600
Description
0: CAN frame
3: Error frame
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