docs: Add new CANBUS_Troubleshooting.md document

Add information on troubleshooting canbus connections.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

docs/CANBUS.md

@@ -135,3 +135,7 @@ iface can0 can static
   be configured in Klipper's printer.cfg file with a `serial:`
   parameter. The bridge board appears as a "USB CAN adapter" and it is
   configured in the printer.cfg as a [CAN node](#configuring-klipper).
+
+## Tips for troubleshooting
+
+See the [CAN bus troubleshooting](CANBUS_Troubleshooting.md) document.

docs/CANBUS_Troubleshooting.md

@@ -0,0 +1,114 @@
+# CANBUS Troubleshooting
+
+This document provides information on troubleshooting communication
+issues when using [Klipper with CAN bus](CANBUS.md).
+
+## Verify CAN bus wiring
+
+The first step in troubleshooting communication issues is to verify
+the CAN bus wiring.
+
+Be sure there are exactly two 120 Ohm [terminating
+resistors](CANBUS.md#terminating-resistors) on the CAN bus. If the
+resistors are not properly installed then messages may not be able to
+be sent at all or the connection may have sporadic instability.
+
+The CANH and CANL bus wiring should be twisted around each other. At a
+minimum, the wiring should have a twist every few centimeters. Avoid
+twisting the CANH and CANL wiring around power wires and ensure that
+power wires that travel parallel to the CANH and CANL wires do not
+have the same amount of twists.
+
+Verify that all plugs and wire crimps on the CAN bus wiring are fully
+secured. Movement of the printer toolhead may jostle the CAN bus
+wiring causing a bad wire crimp or unsecured plug to result in
+intermittent communication errors.
+
+## Check for incrementing bytes_invalid counter
+
+The Klipper log file will report a `Stats` line once a second when the
+printer is active. These "Stats" lines will have a `bytes_invalid`
+counter for each micro-controller. This counter should not increment
+during normal printer operation (it is normal for the counter to be
+non-zero after a RESTART and it is not a concern if the counter
+increments once a month or so). If this counter increments on a CAN
+bus micro-controller during normal printing (it increments every few
+hours or more frequently) then it is an indication of a severe
+problem.
+
+Incrementing `bytes_invalid` on a CAN bus connection is a symptom of
+reordered messages on the CAN bus. There are two known causes of
+reordered messages:
+1. Old versions of the popular candlight_firmware for USB CAN adapters
+   had a bug that could cause reordered messages. If using a USB CAN
+   adapter running this firmware then make sure to update to the
+   latest firmware if incrementing `bytes_invalid` is observed.
+2. Some Linux kernel builds for embedded devices have been known to
+   reorder CAN bus messages. It may be necessary to use an alternative
+   Linux kernel or to use alternative hardware that supports
+   mainstream Linux kernels that do not exhibit this problem.
+
+Reordered messages is a severe problem that must be fixed. It will
+result in unstable behavior and can lead to confusing errors at any
+part of a print.
+
+## Obtaining candump logs
+
+The CAN bus messages sent to and from the micro-controller are handled
+by the Linux kernel. It is possible to capture these messages from the
+kernel for debugging purposes. A log of these messages may be of use
+in diagnostics.
+
+The Linux [can-utils](https://github.com/linux-can/can-utils) tool
+provides the capture software. It is typically installed on a machine
+by running:
+```
+sudo apt-get update && sudo apt-get install can-utils
+```
+
+Once installed, one may obtain a capture of all CAN bus messages on an
+interface with the following command:
+```
+candump -tz -Ddex can0,#FFFFFFFF > mycanlog
+```
+
+One can view the resulting log file (`mycanlog` in the example above)
+to see each raw CAN bus message that was sent and received by Klipper.
+Understanding the content of these messages will likely require
+low-level knowledge of Klipper's [CANBUS protocol](CANBUS_protocol.md)
+and Klipper's [MCU commands](MCU_Commands.md).
+
+## Using a logic analyzer on the canbus wiring
+
+The [Sigrok Pulseview](https://sigrok.org/wiki/PulseView) software
+along with a low-cost
+[logic analyzer](https://en.wikipedia.org/wiki/Logic_analyzer) can be
+useful for diagnosing CAN bus signaling. This is an advanced topic
+likely only of interest to experts.
+
+One can often find "USB logic analyzers" for under $15 (US pricing as
+of 2023). These devices are often listed as "Saleae logic clones" or
+as "24MHz 8 channel USB logic analyzers".
+
+![pulseview-canbus](img/pulseview-canbus.png)
+
+The above picture was taken while using Pulseview with a "Saleae
+clone" logic analyzer. The Sigrok and Pulseview software was installed
+on a desktop machine (also install the "fx2lafw" firmware if that is
+packaged separately). The CH0 pin on the logic analyzer was routed to
+the CAN Rx line, the CH1 pin was wired to the CAN Tx pin, and GND was
+wired to GND. Pulseview was configured to only display the D0 and D1
+lines (red "probe" icon center top toolbar). The number of samples was
+set to 5 million (top toolbar) and the sample rate was set to 24Mhz
+(top toolbar). The CAN decoder was added (yellow and green "bubble
+icon" right top toolbar). The D0 channel was labeled as RX and set to
+trigger on a falling edge (click on black D0 label at left). The D1
+channel was labeled as TX (click on brown D1 label at left). The CAN
+decoder was configured for 1Mbit rate (click on green CAN label at
+left). The CAN decoder was moved to the top of the display (click and
+drag green CAN label). Finally, the capture was started (click "Run"
+at top left) and a packet was transmitted on the CAN bus (`cansend
+can0 123#121212121212`).
+
+The logic analyzer provides an independent tool for capturing packets
+and verifying bit timing.

docs/Overview.md

@@ -92,5 +92,7 @@ communication with the Klipper developers.
 - [Bootloaders](Bootloaders.md): Developer information on
   micro-controller flashing.
 - [CAN bus](CANBUS.md): Information on using CAN bus with Klipper.
+  - [CAN bus troubleshooting](CANBUS_Troubleshooting.md): Tips for
+    troubleshooting CAN bus.
 - [TSL1401CL filament width sensor](TSL1401CL_Filament_Width_Sensor.md)
 - [Hall filament width sensor](Hall_Filament_Width_Sensor.md)

docs/_klipper3d/mkdocs.yml

@@ -133,6 +133,7 @@ nav:
     - Beaglebone.md
     - Bootloaders.md
     - CANBUS.md
+    - CANBUS_Troubleshooting.md
     - TSL1401CL_Filament_Width_Sensor.md
     - Hall_Filament_Width_Sensor.md
   - Sponsors.md