Bosch CAN specification

New Eagle’s Raptor-CAN software breaks from the status quo by offering a simple, low cost, and easy-to-use solution for practically any CAN bus monitoring & debugging needs.
Raptor-CAN can monitor, log, or send data to the CAN bus. Raptor-CAN decodes raw CAN bus data using DBC files so end-users only see signals in engineering units within the Raptor-CAN software. Raptor-CAN is even capable of transmitting pre-recorded CAN data back onto to the bus. This powerful feature is especially useful for recreating scenarios without having to use the actual hardware that originally sent the messages.

Bosch CAN specification