CAN Debugging Guide (Linux `slcan` + Windows `pcan`)

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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)

• 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

• Interface exists as slcan0
• State is UP (or UNKNOWN)

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2.2 Quick traffic sanity checks

candump slcan0

cansend slcan0 001#1122334455667788

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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

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

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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

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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