[CAN SPARK MAX] IDs 11, WPILib or External HAL Error: CAN Not Initialized Periodic Status 1

[MrNNP]

Hello everyone! When we deploy our code, we are getting an error ([CAN SPARK MAX] IDs 11, WPILib or External HAL Error: CAN Not Initialized Periodic Status 1) that stops our code completely and only is solved when the robot code is restarted. We have checked all of our CAN wiring and have flashed the firmware multiple times, have tried reassigning multiple different CAN Ids, and even swapped the Spark Max with another, all to no avail. However, after further diagnosis, we noticed that when the code bricks, the voltage measured from the REV robotics library, for the specific CAN Spark Max spikes and stays at 30 volts. Only a reboot resets the voltage again. We have another CAN Spark Max on a different part of the robot which doesn’t have the same issue and the only difference is that the one with the problem is set on coast mode, whereas the other one is set on brake mode. Can anyone help diagnose this issue?

[Peter_Johnson]

See this thread which sounds like a very similar symptom.

Wpilib or external Hal error can not initialized when deploying code

Starting today every time we deploy code we get the following error message which occurs about 3-4 times, after which our code works. This adds about a minute to our deploy time. After the code starts for the first time, it continues to work and boot in a normal amount of time, even after restarting/rebooting the Rio. Looking up this error message it appears it’s related to declaeing a can device multiple times, but we only declare devices in a singleton file. As well, the issue clears up after …

[MrNNP]

I read over the thread and we are not using any custom threads, and our coprocessor communicates over network tables.

[Peter_Johnson]

What vendor libraries are you using? As stated in my post, there may be something in a vendor library not shutting down in a timely manner that could cause this to happen.