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CAN Debugging Guide (PCAN + CANable candleLight/gs_usb)

This guide is the canonical troubleshooting playbook for channel setup and link-level diagnostics.

1. Scope and Backend Mapping

  • Linux backend: SocketCAN (can0, can1, ...)
  • Windows backend: PEAK PCAN via PCANBasic.dll (can0/can1 mapping to PCAN_USBBUS1/2)

Rules:

  • Linux: configure bitrate at interface bring-up time; do not put @bitrate in --channel.
  • Windows PCAN: @bitrate suffix is allowed in --channel (for example can0@1000000).

2. Linux PCAN and CANable candleLight/gs_usb Bring-up

2.1 Identify the adapter

lsusb
lsmod | grep -E 'peak_usb|gs_usb|can_raw|can_dev'
ip -details link show type can

Expected adapter mapping:

  • PCAN-USB: kernel driver peak_usb; use scripts/can_restart.sh can0.
  • CANable candleLight: kernel driver gs_usb; use scripts/canable_restart.sh can0.

2.2 Initialize the SocketCAN interface

PCAN:

scripts/can_restart.sh can0

CANable candleLight/gs_usb:

scripts/canable_restart.sh can0

Then confirm can0 is UP, bitrate is 1000000, and the driver line matches the adapter.

2.3 Quick traffic sanity checks

candump can0

If no frame appears during scan/control, check wiring, termination, ground reference, power, and bitrate consistency with motor firmware.

2.4 Run motor_cli on can0

cargo run -p motor_cli --release -- \
  --vendor robstride --channel can0 --mode scan --start-id 1 --end-id 16

3. Linux SocketCAN (can0) Quick Checks

sudo ip link set can0 down 2>/dev/null || true
sudo ip link set can0 type can bitrate 1000000 restart-ms 100
sudo ip link set can0 up
ip -details link show can0

Counters to watch:

  • RX errors, TX errors, bus-off, re-started

If bus-off grows, fix physical layer first (termination, ground reference, bitrate mismatch).

4. Windows PCAN Bring-up and Verification

4.1 Preconditions

  • Install PEAK driver
  • Install PCAN-Basic runtime (PCANBasic.dll) and ensure it is loadable
  • Confirm adapter channel availability in PEAK tools

4.2 Channel conventions used by this project

  • can0 -> PCAN_USBBUS1
  • can1 -> PCAN_USBBUS2
  • Optional bitrate suffix: can0@1000000

4.3 Validation commands

cargo run -p motor_cli --release -- --vendor damiao --channel can0@1000000 --model 4340P --motor-id 0x01 --feedback-id 0x11 --mode scan --start-id 1 --end-id 16

If startup fails with load PCANBasic.dll failed, fix PATH/runtime installation first.

5. Error-to-Action Map

Linux SocketCAN path

  • if_nametoindex failed ...:
    • Interface name is wrong or interface not created/up
    • Action: ip link show, bring up can0 or select the correct SocketCAN interface
  • socketcan write failed / socketcan read failed with hint interface is down:
    • Action: ip -details link show <ifname>, then bring link up
  • ... unavailable / interface not found:
    • Action: check USB adapter presence and interface naming

Windows PCAN path

  • load PCANBasic.dll failed:
    • Action: install PCAN-Basic runtime and restart shell/IDE so DLL is discoverable
  • PCAN initialize failed: status=...:
    • Action: verify channel mapping (can0/can1), bitrate suffix, adapter availability
  • Repeated reconnect failures:
    • Action: check cable/termination/power and channel occupancy in PEAK tools

6. Minimal Cross-Platform Acceptance Checklist

  • Linux can0: scan command returns expected device IDs
  • Windows can0@1000000: scan succeeds with PEAK adapter
  • One control command (mit or pos-vel) succeeds in each environment

If Linux SocketCAN and Windows PCAN scans plus one control command pass, channel support is considered aligned.