Changes between Initial Version and Version 1 of WAM/DebugCan


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Timestamp:
Mar 13, 2017, 8:51:16 PM (3 years ago)
Author:
bz
Comment:

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  • WAM/DebugCan

    v1 v1  
     1Understanding the CANbus
     2
     3The WAM's control PC uses a Peak CAN card to communicate with each motor controller over a two-wire differential [[https://en.wikipedia.org/wiki/CAN_bus|CAN communications bus]]. This is the same technology used in many cars to connect various sensors and actuators to the vehicle's central computer. As a differential signal, it is very robust to electrical noise. And its dominant/recessive bit transmission scheme coupled with its priority-based message framing structure ensures that there is no cost penalty to message collisions between two or more nodes.
     4
     5For external WAM PCs:
     6  a. Make sure that the CANbus cable is plugged into the correct port on the PC
     7  a. Make sure that the CANbus cable is plugged into the correct port on the WAM
     8  a. Make sure the CANbus card is properly seated in its PCI slot
     9
     10CAN driver software:
     11  a. Make sure the CAN driver is installed and loaded correctly: dmesg |grep –i pcan, cat /proc/pcan, lsmod
     12  a. Check for IRQ conflicts
     13
     14Wiring issues:
     15  a. Check for a broken CANbus or power wire, usually in a connector or at the safety puck.
     16  a. Check for a loose CANbus or power crimp in the connectors.
     17  a. Make sure that the CANbus cable is properly terminated- there is a wrist or blank outer link attached.