Access CAN interface for both Xavier A & B

I’m trying to send and receive CAN messages from both Xavier A (online processing) and Xavier B (data recording).
Which CAN port should I use?
Where can I find a CAN connection map to figure out the relationship such as ‘CAN-n -> can0/1 on Xavier A/B’?

Dear Liang_Qi,

Could you please refer to Page 13 ~ 14 in DRIVE AGX Developer Kit Mechanical & Installation Guide (PDF) for CAN connection and mapping?

Dear SteveNV,

Thanks so much for you reply! It’s really helpful!

With default settings after flashed, can I obtain similar CAN signal on both XA and XB from one CAN port?
If it is possible, which port should I use?
If I have to reconfigure from the MCU, how to do that?

Dear Liang_Qi,

In the table, CAN2 is connected to XavierA/B-CAN0 and MCU and CAN6 is connected to XavierA/B-CAN1 and MCU.
Please refer to for the test, the file is in your hostpc /DriveSDK/drive-t186ref-foundation/utils/scripts. Thanks.

Thank you so much! Now I can access can6 from both XavierA&B.