diff --git a/docs/CANBUS_Troubleshooting.md b/docs/CANBUS_Troubleshooting.md
index 2991d72c..bd9ef045 100644
--- a/docs/CANBUS_Troubleshooting.md
+++ b/docs/CANBUS_Troubleshooting.md
@@ -78,6 +78,32 @@ Understanding the content of these messages will likely require
 low-level knowledge of Klipper's [CANBUS protocol](CANBUS_protocol.md)
 and Klipper's [MCU commands](MCU_Commands.md).
 
+### Parsing Klipper messages in a candump log
+
+One may use the `parsecandump.py` tool to parse the low-level Klipper
+micro-controller messages contained in a candump log. Using this tool
+is an advanced topic that requires knowledge of Klipper
+[MCU commands](MCU_Commands.md). For example:
+```
+./scripts/parsecandump.py mycanlog 108 ./out/klipper.dict
+```
+
+This tool produces output similar to the [parsedump
+tool](Debugging.md#translating-gcode-files-to-micro-controller-commands). See
+the documentation for that tool for information on generating the
+Klipper micro-controller data dictionary.
+
+In the above example, `108` is the [CAN bus
+id](CANBUS_protocol.md#micro-controller-id-assignment). It is a
+hexadecimal number. The id `108` is assigned by Klipper to the first
+micro-controller. If the CAN bus has multiple micro-controllers on it,
+then the second micro-controller would be `10a`, the third would be
+`10c`, and so on.
+
+The candump log must be produced using the `-tz -Ddex` command-line
+arguments (for example: `candump -tz -Ddex can0,#FFFFFFFF`) in order
+to use the `parsecandump.py` tool.
+
 ## Using a logic analyzer on the canbus wiring
 
 The [Sigrok Pulseview](https://sigrok.org/wiki/PulseView) software
diff --git a/scripts/parsecandump.py b/scripts/parsecandump.py
new file mode 100755
index 00000000..d575dc5a
--- /dev/null
+++ b/scripts/parsecandump.py
@@ -0,0 +1,125 @@
+#!/usr/bin/python3
+# Check for out of order timestamps in the output of candump
+#
+# Copyright (C) 2023  Kevin O'Connor <kevin@koconnor.net>
+#
+# This file may be distributed under the terms of the GNU GPLv3 license.
+import sys, os, optparse
+
+def import_msgproto():
+    global msgproto
+    # Load msgproto.py module
+    kdir = os.path.join(os.path.dirname(__file__), '..', 'klippy')
+    sys.path.append(kdir)
+    import msgproto
+
+def read_dictionary(filename):
+    dfile = open(filename, 'rb')
+    dictionary = dfile.read()
+    dfile.close()
+    return dictionary
+
+def report(msg, line_info, name="", is_err=False):
+    line_number, line_time = line_info
+    warn = ""
+    if is_err:
+        warn = " WARN"
+    sys.stdout.write("%04d:%010.6f:%s%s %s\n"
+                     % (line_number, line_time, name, warn, msg))
+
+class canscan:
+    def __init__(self, name, mp):
+        self.name = name
+        self.mp = mp
+        self.data = bytearray()
+        self.need_scan = False
+    def handle_data(self, line_info, line, newdata):
+        data = self.data
+        data += bytearray(newdata)
+        while 1:
+            if self.need_scan:
+                drop = len(data)
+                syncpos = data.find(msgproto.MESSAGE_SYNC)
+                if syncpos >= 0:
+                    drop = syncpos + 1
+                    self.need_scan = False
+                disc = ["%02X" % (d,) for d in data[:drop]]
+                report("Discarding %d (%s)" % (drop, " ".join(disc)),
+                       line_info, self.name, is_err=True)
+                data[:drop] = []
+                if not data:
+                    break
+            l = self.mp.check_packet(data)
+            if l == 0:
+                break
+            if l < 0:
+                report("Invalid data: %s" % (line.strip(),),
+                       line_info, self.name, is_err=True)
+                self.need_scan = True
+                continue
+            if l == 5:
+                report("Ack %02x" % (data[1],), line_info, self.name)
+            else:
+                msgs = self.mp.dump(data[:l])
+                report("%d: %s" % (l, ', '.join(msgs)), line_info, self.name)
+            data[:l] = []
+
+def read_candump(canfile, canid, dictionary):
+    mp = msgproto.MessageParser()
+    mp.process_identify(dictionary, decompress=False)
+    rxid = "%03X" % (canid | 1,)
+    txid = "%03X" % (canid & ~1,)
+    handlers = {rxid: canscan("RX", mp), txid: canscan("TX", mp)}
+
+    last_time = -1.
+    line_number = 0
+    must_scan = False
+    data = bytearray()
+    for line in canfile:
+        line_number += 1
+        parts = line.split()
+        if len(parts) < 7:
+            if parts:
+                report("Ignoring line: %s" % (line.strip(),),
+                       (line_number, 0.), is_err=True)
+            continue
+        p_ts = parts[0]
+        p_canid = parts[5]
+        p_len = parts[6]
+        p_data = parts[7:]
+        if (not p_ts.startswith('(') or not p_ts.endswith(')')
+            or not p_len.startswith('[') or not p_len.endswith(']')):
+            report("Ignoring line: %s" % (line.strip(),),
+                   (line_number, 0.), is_err=True)
+            continue
+        new_time = float(p_ts[1:-1])
+        line_info = (line_number, new_time)
+        if new_time < last_time:
+            report("Backwards time %.6f vs %.6f: %s"
+                   % (new_time, last_time, line.strip()),
+                   line_info, is_err=True)
+        last_time = new_time
+
+        hdlr = handlers.get(p_canid)
+        if hdlr is not None:
+            newdata = [int(i, 16) for i in p_data]
+            hdlr.handle_data(line_info, line, newdata)
+
+def main():
+    usage = "%prog <candump.log> <canid> <mcu.dict>"
+    opts = optparse.OptionParser(usage)
+    options, args = opts.parse_args()
+    if len(args) != 3:
+        opts.error("Incorrect number of arguments")
+    canfilename, canid, dictfilename = args
+    canid = int(canid, 16)
+
+    import_msgproto()
+    dictionary = read_dictionary(dictfilename)
+
+    canfile = open(canfilename, "r")
+    read_candump(canfile, canid, dictionary)
+    canfile.close()
+
+if __name__ == '__main__':
+    main()