AGX ORIN CANFD测试报错

Robotics & Edge Computing Jetson & Embedded Systems Jetson AGX Orin
1

测试过程：

#can参数配置
ip link set can0 up type can bitrate 1000000 dbitrate 5000000 berr-reporting on fd on
ip link set can1 up type can bitrate 1000000 dbitrate 5000000 berr-reporting on fd on

candump -x any &

cansend can1 123##1abcdabcd

发送完以上命令后，内核打印了错误：

[ 761.331931] mttcan c320000.mttcan can1: Bit0 Error Detected
[ 761.332183] mttcan c320000.mttcan can1: IR 0x10010000 PSR 0x51f
[ 761.332395] mttcan c320000.mttcan can1: entered error warning state
[ 761.332604] mttcan c320000.mttcan can1: Bit0 Error Detected
[ 761.332795] mttcan c320000.mttcan can1: IR 0x11000000 PSR 0x55f
[ 761.333339] mttcan c320000.mttcan can1: entered error passive state
[ 761.333544] mttcan c320000.mttcan can1: Bit0 Error Detected
[ 761.333729] mttcan c320000.mttcan can1: IR 0x10800000 PSR 0x57f
[ 761.333937] mttcan c320000.mttcan can1: Bit0 Error Detected
[ 761.334115] mttcan c320000.mttcan can1: IR 0x10000000 PSR 0x57f
[ 761.334330] mttcan c320000.mttcan can1: entered bus off state
[ 761.334496] mttcan c320000.mttcan can1: Bit0 Error Detected
[ 761.334662] mttcan c320000.mttcan can1: IR 0x12000000 PSR 0x5e7

同时，抓取信号看起来也不正常：

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image1325×525 19.4 KB

同时，我也看到了这篇：英伟达团队您好，canfd支持加速发送吗？使用canf加速发送，总线就会出现bus-off；发送canfd，总线正常 - #10 by KevinFFF

他的情况似乎与我相同，但平台不同，请问能否提供AGX ORIN平台的patch？

2

如果我不使用CANFD，则一切正常

ip link set can0 up type can bitrate 1000000 dbitrate 5000000 berr-reporting on fd on
ip link set can1 up type can bitrate 1000000 dbitrate 5000000 berr-reporting on fd on
cansend can1 123#abcdabcd

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image1580×600 22.8 KB

4

Hi dcb0223,

Are you using the devkit or custom board for AGX Orin?
What’s the Jetpack version in use?

Do you connect CAN0 and CAN0 with 2 CAN transceivers in your setup to verify?
If so, what’s the CAN transceiver in use?

5

1.we use our custom borad for agx orin

2.we use jetpack 5.1.4

3.We connect CAN0 and CAN1, but we cannot send the candfd data; we can only send CAN data.

4.we use this candf transceiver test agx orin’s can interface

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image550×449 49.5 KB

6

Could you run the following commands before setup CAN to check if it helps for your case?

# 0x600 > /sys/devices/platform/c310000.mttcan/net/can0/tdc_offset
# 0x600 > /sys/devices/platform/c320000.mttcan/net/can1/tdc_offset
7

I have checked the official website and forum, and have tested this command. The result is the same after inputting it.

8

The situation described in this article is similar to mine. You provided the corresponding platform patch package to solve the problem. Could you also provide a patch package for AGX orin?

9

That patch is for AGX Thor with JP7.x (r38.x) which is different from yours (AGX Orin with JP5.x(r35.x)).
I think the prod-setting for CAN has been configured in your case.
Could you provide the full device tree for double confirm?

Could you also verify with the latest JP5.1.5 or JP6.2.1?