I am currently debugging an actuator which is intended to be able to “natively” communicate over UAVCAN.
After doing initial testing with the provided adapter and software, I attempted to use it with an autopilot, to no avail. After debugging the autopilot’s arrayCommand outputs (found no issues there), I turned my attention to seeing the activity from the provided adapter and software.
What I found is that, despite the adapter communicating with and properly operating the servo, I see zero inbound CAN frames via the Babel in GUI Tool’ CAN Bus Monitor.
If a CAN frame is malformed (e.g. not in line with the UAVCAN specification, but still a “CAN” frame) is there a way to view the raw frame, beyond what the GUI Tool and frame_hook example displays?
I wish to narrow down whether I have a hardware compatibility issue on my hands (e.g. incompatible signal levels, inverted logic, etc.) or an implementation issue with the servo’s communications.