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Documentation Index

Fetch the complete documentation index at: https://motorbridge.seeedstudio.com/llms.txt

Use this file to discover all available pages before exploring further.

Source: docs/en/can_debugging.md

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CAN Debugging Guide (Linux slcan + Windows pcan)

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

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1. Scope and Backend Mapping

  • Linux backend: SocketCAN (can0, can1, slcan0, …)
  • 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).

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2. Linux slcan Bring-up and Verification

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2.1 Bring up slcan0

sudo pkill slcand 2>/dev/null || true
sudo slcand -o -c -s8 /dev/ttyUSB0 slcan0
sudo ip link set slcan0 up
ip -details link show slcan0
Expected:
  • Interface exists as slcan0
  • State is UP (or UNKNOWN)

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2.2 Quick traffic sanity checks

Terminal A: 
candump slcan0
Terminal B (send a test frame): 
cansend slcan0 001#1122334455667788
If no frame appears in candump, check adapter wiring, termination, and bitrate consistency with motor firmware.

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2.3 Run motor_cli on slcan0

cargo run -p motor_cli --release -- \
  --vendor damiao --channel slcan0 --mode scan --start-id 1 --end-id 16

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3. Linux Native 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).

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4. Windows PCAN Bring-up and Verification

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4.1 Preconditions

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

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4.2 Channel conventions used by this project

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

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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.

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5. Error-to-Action Map

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Linux SocketCAN path

  • if_nametoindex failed ...:
    • Interface name is wrong or interface not created/up
    • Action: ip link show, recreate slcan0 or bring up can0
  • 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

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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

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6. Minimal Cross-Platform Acceptance Checklist

  • Linux can0: scan command returns expected device IDs
  • Linux slcan0: same scan command works after slcand setup
  • Windows can0@1000000: scan succeeds with PEAK adapter
  • One control command (mit or pos-vel) succeeds in each environment
If all four pass, channel support for pcan + slcan is considered aligned.