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Throwing out there that Wireshark has CAN parsing ability. For any else of y'all that have been stuck with a legacy non standard CAN protocol running on industrial automation, writing a Lua protocol parser and a little script to convert whatever internal format you've been using to pcap-ng will be an afternoon or two very well spent.

In industrial automation there are mainly 2 standard protocols, which can obtain easily: DeviceNet and CANopen.

There's also an ton of shops using literally no standard above the 8bytes+IDbits that CAN controllers spit out and accept.

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