CAN Bus on Drive PX2 could not receive message from Host PC's PCAN

Autonomous Vehicles DRIVE PX 2 DRIVE Hardware
1

I tried to connect Drive PX2 CAN bus with my host PC PCAN. I could send message from PX2 and my host PC successfully received it. However, when I send CAN message from my host PC, the PX2 did not receive at all. Both CAN0 (Tegra A, using Can-5 cable) and CAN1 (Tegra B, using Can-6 cable) behave the same. To test, I used can-utils CANDUMP for receiving and CANSEND to send the message. I also set the ip link can0 and can1 up prior to using the CAN bus.

Here are the devices’ details by executing command

ip -details -statistics link show can0

- Host PC (PCAN)

6: can 0: <NOARP, UP, LOWER_UP> mtu 16 qdisc pfifo_fast state UP mode DEFAULT group default qlen 1000
      link/can promiscuity 0
      can <TRIPLE-SAMPLING> state ERROR-ACTIVE restart-ms 0
            bitrate 500000 sample-point 0.875
            tq 125 prop-seg 6 phase-seg1 7 phase-seg2 2 sjw 1
            pcan: tseg1 1..16 tseg2 1..8 sjw 1..4 brp 1..64 brp-inc 1
            clock 8000000
      ...

- Drive PX2 (let it be CAN0, Tegra A using Can-5 cable)

7: can0: <NOARP, UP, LOWER_UP, ECHO> mtu 16 qdisc pfifo_fast state UNKNOWN mode DEFAULT group default qlen 1000
      link/can promiscuity 0
      can state ERROR-ACTIVE (berr-counter tx 0 rx 1) restart-ms 0
            bitrate 500000 sample-point 0.875
            tq 125 prop-seg 6 phase-seg1 7 phase-seg2 2 sjw 1
            mttcan: tseg1 2..255 tseg2 0..127 sjw 1..127 brp 1..511 brp-inc 1
            mttcan: dtseg1 1..31 dtseg2 0..15 dsjw 1..15 dbrp 1..15 dbrp-inc 1
            clock 40000000
      ...

Drive PX2 CAN bus could not receive any messages from host PC PCAN. How could I fix this problem?

2

Dear erickit,

Could you please refer to below steps for you topic?

$ sudo apt-get install can-utils

Step 1. Connected PCAN to can-5 port.(can-5 → can0 on Tegra A)

Step 2. Enable can0 on Tegra A.
$sudo ip link set can0 type can bitrate 500000
$sudo ip link set can0 up

Step3. Run candump
$sudo candump can0

Step4. To cross check this , can you Just connect Peak CAN to CAN 5 on the harness (with proper termination) and Transmit message id 0x140 from PCAN.
Aurix Shell> cansend e 0x75 0xffff0000 0xaaaa5555