All 6 CAN access - Drive Orin dev kit

Autonomous Vehicles DRIVE AGX Orin DRIVE AGX Orin General
1

Please provide the following info (tick the boxes after creating this topic):
Software Version
[X] DRIVE OS 6.0.8.1
DRIVE OS 6.0.6
DRIVE OS 6.0.5
DRIVE OS 6.0.4 (rev. 1)
DRIVE OS 6.0.4 SDK
other

Target Operating System
[X] Linux
QNX
other

Hardware Platform
[X] DRIVE AGX Orin Developer Kit (940-63710-0010-300)
DRIVE AGX Orin Developer Kit (940-63710-0010-200)
DRIVE AGX Orin Developer Kit (940-63710-0010-100)
DRIVE AGX Orin Developer Kit (940-63710-0010-D00)
DRIVE AGX Orin Developer Kit (940-63710-0010-C00)
DRIVE AGX Orin Developer Kit (not sure its number)
other

SDK Manager Version
1.9.3.10904
other

Host Machine Version
native Ubuntu Linux 20.04 Host installed with SDK Manager
[X] native Ubuntu Linux 20.04 Host installed with DRIVE OS Docker Containers
native Ubuntu Linux 18.04 Host installed with DRIVE OS Docker Containers
other

Hi, As per the documentation we have in total 6 CAN bus available on Nvidia Drive Orin Kit,
and only 2 are available in Linux user space with socketCan.
Is there any way that we can access others in Linux user space ?
with “socket.aurix” since I don’t have access to PDK documentation, I am clueless about how they are mapped or how they can be used. Any suggestions regarding this?

3

Yes, only two are available on the current releases.
Please refer to the previous discussions below for more detailed information:

4

@VickNV

As per the documentation

"AurixCAN
On NVIDIA DRIVE™ platforms, CAN messages can be sent and received by the Xaviers through Aurix. For this to work, a proper setup of the Aurix needs to be made prior to running the application. In order to connect to AurixCAN, use the following arguments:

For driveworks 3.5 and above (Aurix version 4.0 and above)
–driver=can.aurix –params=ip=10.42.0.146,inIDMap=1:0x106+2:0x206,outIDMap=0x105:17+0x205:18

Where ip is the IP address from which the CAN messages are forwarded and inIDMap/outIDMap defines the mapping between PDU ID and CAN ID as defined by the security model of Aurix CAN. It has to match to the compiled into the Aurix security model. Please refer to the PDK documentation for more information about Aurix CAN security model."

Where can I get more details about the “PDU ID and CAN ID” and which CAN interface it is reading from, Can you suggest some documentation, as of now I don’t have access to PDK .

Thank you.

5

Dear @sushant.bahadure,
Please see How to use Aurix CAN on Orin - #12 by SivaRamaKrishnaNV .

6

Hi @SivaRamaKrishnaNV ,

With this link I am failing to understands which is the solution that you are suggesting me,

can I request you to be more explicit with your answer?

with can.socket we can only use CAN0 and CAN1,

with can.aurix one access all the interfaces 2 till 5? with specific inIDMap and outIDMap? if yes How one can access CAN2 or 3 /4 /5 explicitly?

what is the meaning if " inIDMap=1:0x106+2:0x206,outIDMap=0x105:17+0x205:18*" ? how one can understand these params?

8

Dear @sushant.bahadure ,

We notice, It is a documentation bug. On Orin platform, we did not test AurixCAN in DW and we have deprecated the AurixCAN support. I hope it clarifies.

10

Thank you @SivaRamaKrishnaNV.
for clarifying So practically we have only 2 CAN interfaces one can use out of the box (CAN0 and CAN1).
Other CAN interfaces are not available for now.

11

correct

12

Thank you @SivaRamaKrishnaNV

14

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