AGX Xavier set can0 baudrate kernel Prompt error

An error occurs when I set the can0 baudrate.

Configuration commands:
[ set bitrate 500k ]
sudo ip link set can0 type can bitrate 500000

error log:
[ 937.136829] mttcan c310000.mttcan can0: bitrate error 0.2%

If the configuration is less than 500k, there will be no this problem.

The version we are using is Jetson Linux 35.2.1.

Developer Kit Carrier Board is AGX Xavier.

Hi auth-root,

Please refer to the following thread for this issue.
Can bitrate error 0.2% - #4 by shgarg
Controller Area Network (CAN) — Jetson Linux Developer Guide documentation (

1. Configure parent clock for CAN
# echo pll_c > /sys/kernel/debug/bpmp/debug/clk/can1/parent
# cat /sys/kernel/debug/bpmp/debug/clk/can1/parent
# cat /sys/kernel/debug/bpmp/debug/clk/can1/rate

2. Reload mttcan driver
# rmmod mttcan
# modprobe mttcan

3. setup can0 again to verify
$ sudo ip link set can0 type can bitrate 500000

When I follow the Developer Guide documentation .

dtb to dts error, I used Agx xavier industrial core.

ubuntu:~/JetPack_5.1.1_Linux_JETSON_AGX_XAVIER_TARGETS/Linux_for_Tegra/bootloader/t186ref$ dtc -I dtb -O dts tegra194-a02-bpmp-p2888-0008-b01-jaxi.dtb > tegra194-a02-bpmp-p2888-0008-b01-jaxi.dts
FATAL ERROR: EOF reading DT blob magic number

I found the reason, I will continue to follow the documentation and reply later.

I followthe Developer Guide documentation , the rate can reach 5Mbps, thank you!

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