CAN总线帧格式简介

DATA FRAME

0	10	9	...	1	0	0	1	0	3	2	1	0	7	6	...	1	0	...	14	13	...	1	0	0	0	0	6	5	4	3	2	1	0
SOF =0	ID(标识符)					RTR(远程传输请求) =0	reserved =0XB		data length code				Data Field(0~8bytes)						CRC Sequence					CRC delimiter =1	ACK Slot	ACK delimiter =1	EOF =1111111B
	Abitration Field						Control Filed												CRC Field						ACK Field

DATA FRAME(EXT)

0	10	9	...	1	0	0	0	17	16	...	1	0	0	1	0	3	2	1	0	7	6	...	1	0	...	14	13	...	1	0	0	0	0	6	5	4	3	2	1	0
SOF =0	Base ID(28~18)					SRR(RTR替代) =1	IDE(ID扩展) =1	Extended ID(17~0)					RTR(远程传输请求) =0	reserved =00B		data length code				Data Field(0~8bytes)						CRC Sequence					CRC delimiter =1	ACK Slot	ACK delimiter =1	EOF =1111111B
	Abitration Field													Control Filed												CRC Field						ACK Field

REMOTE FRAME

0	10	9	...	1	0	0	1	0	3	2	1	0	14	13	...	1	0	0	0	0	6	5	4	3	2	1	0
SOF =0	ID(标识符)					RTR(远程传输请求) =1	reserved		data length code				CRC Sequence					CRC delimiter =1	ACK Slot	ACK delimiter =1	EOF =1111111B
	Abitration Field						Control Filed						CRC Field						ACK Field

REMOTE FRAME(EXT)

0	10	9	...	1	0	0	0	17	16	...	1	0	0	1	0	3	2	1	0	14	13	...	1	0	0	0	0	6	5	4	3	2	1	0
SOF =0	Base ID(28~18)					SRR(RTR替代) =1	IDE(ID扩展) =1	Extended ID(17~0)					RTR(远程传输请求) =1	reserved =00B		data length code				CRC Sequence					CRC delimiter =1	ACK Slot	ACK delimiter =1	EOF =1111111B
	Abitration Field													Control Filed						CRC Field						ACK Field

ERROR FRAME(after DATA FRAME)

5	4	3	2	1	0	5	4	3	2	1	0	7	6	5	4	3	2	1	0
error flag =000000B/111111B												error delimiter=11111111B
superposition of error flag

OVERLOAD FRAME(after DATA/REMOTE/ERROR/OVERLOAD FRAME)

5	4	3	2	1	0	5	4	3	2	1	0	7	6	5	4	3	2	1	0
overload flag =000000B/111111B												overload delimiter=11111111B
superposition of overload flag

总结

字段具体含义参见：https://blog.csdn.net/heli200482128/article/details/129336089