CAN Bus Debugging

Application Scenarios

• Embedded devices that implement CAN communication need to verify whether sending and receiving are functioning properly.
• Need to monitor all frames on the CAN bus or filter specific IDs.
• Need to send test frames to the CAN bus and wait for responses.
• Need to scan active nodes on the bus.

Required Inputs

• CAN interface type (pcan, kvaser, slcan, socketcan, virtual, etc.).
• Channel name (depends on the interface type, e.g., PCAN_USBBUS1, COM3, can0).
• Baud rate (default 500000).

Dependencies

• python-can

  (pip install python-can)
• Drivers for the corresponding adapter (e.g., PCAN requires PCAN-Basic API)

Execution Steps

1. First read references/usage.md to confirm operation parameters.
2. Detect the environment:
   bash

   python scripts/can_tool.py --detect

3. Perform operations according to requirements:
   bash

   # Listen to the bus
   python scripts/can_tool.py --interface pcan --channel PCAN_USBBUS1 --listen --duration 10
   
   # Send frames
   python scripts/can_tool.py --interface pcan --channel PCAN_USBBUS1 --send --id 0x123 --data 01,02,03
   
   # Scan nodes
   python scripts/can_tool.py --interface pcan --channel PCAN_USBBUS1 --scan --scan-range 0x001-0x0FF

Failure Diversion

• connection-failure

  : Adapter not connected or driver not installed.

• bus-error

  : CAN bus error (e.g., no terminal resistor connected).

• timeout

  : No response after sending.

Output Convention

Result: ✅ Listening completed, received 15 frames
  Connection: pcan PCAN_USBBUS1 500000

  [14:30:01] 0x123  [8]  01 02 03 04 05 06 07 08
  [14:30:01] 0x456  [4]  AA BB CC DD

Handover Relationships

• After burning firmware with

  build-keil

  /

  build-platformio

  , use this skill to verify CAN communication.
• Complementary to

  serial-monitor

  : serial-monitor views serial port debugging output, can-debug performs CAN protocol-level debugging.