CAN communication between t motor and jetson nano

[chulkyunmi17]

Hello, I’m here for some questions about connections between motor and jetson nano using can communication.

Recently, I’m trying to control t motor (AK70-10 made by Cubemars) using jetson nano developer kit B01 (jetpack 4.6.1)

As jetson nano has no CAN pin in board, so I used Rubik link USB to CAN & UART convertor (made by Cubemars).

I connected USB and cheked the activation of /dev/ttyUSB0.
Also, I activated can0 and checked with “ifconfig -a” and “ip link show can0”

But, when i input “ip link show can0”, it said → ‘can0: <NOARP, UP LOWER_UP. mtu 16 qdisc pfifo_fast state UNKNOWN mode DEFAULT group default qlen 10’

So, here is my questions

1. How can I solve “state UNKNOWN”?
2. Is it okay to use Rubik link or should I buy CAN communcation board?

I really need your helps…

Thanks

P.S. the baud rate of serial port is 9600. | the bitrate for motor is 1M and baud rate is 921600
I already change the baud rate of usb serial using “stty -F /dev/USB0 921600” but it didn’t work…

[KevinFFF]

Hi chulkyunmi17,

@chulkyunmi17

Recently, I’m trying to control t motor (AK70-10 made by Cubemars) using jetson nano developer kit B01 (jetpack 4.6.1)

Could you update to the latest JP4.6.4 to verify?

@chulkyunmi17

As jetson nano has no CAN pin in board, so I used Rubik link USB to CAN & UART convertor (made by Cubemars).

We don’t have your module/adapter to verify it locally.
You can also ask your vendor for the detailed usage/configurations.

For Jetson Nano, you can refer to CanBus on the Nano - #33 by shgarg to use MCP2515 module for CAN transaction through SPI interface.

[chulkyunmi17]

Thank you for your reply.

First of all, Not yet to update jetpack 4.6.4.
To update a jetpack, should I format SD card?

Second, I don’t have MCP2515 so that I need to use USB to CAN convertor. Would it be more easy to use MCP rather than convertor?

[KevinFFF]

@chulkyunmi17

To update a jetpack, should I format SD card?

You can just use connect the board to the host and use SDKM to flash the devkit.

@chulkyunmi17

Second, I don’t have MCP2515 so that I need to use USB to CAN convertor. Would it be more easy to use MCP rather than convertor?

More people use MCP2515 for CAN transaction since they may design their custom board with this component on their board.

USB to CAN convertor should be easily to be used, but we don’t have that adapter to verify for you.
Could you share the block diagram of your connection?
and also the full dmesg for further check.

[chulkyunmi17]

Sorry for late reply.

This is my block diagram of system

And this is the hardware of Rubik link that use as USB to CAN convertor.

The result of “ip link show can0”

The result of “dmesg”

I activated can0 with below code;

sudo modprobe can
sudo modprobe can_raw
sudo modporbe slcan

sudo slcand -o -c -s8 /dev/ttyUSB0 can0
sudo ifconfig can0 up

[chulkyunmi17]

I check the convertor with my laptop, I checked that when the connection is correct, the LED in UART and CAN is glowing.

[KevinFFF]

Does this R-LINK working on your host PC?

Could you share the result of ifconfig after you configuring the CAN?

@chulkyunmi17

sudo slcand -o -c -s8 /dev/ttyUSB0 can0

I’m not clear about what this command is doing.
Why it need to connect serial interface to your CAN device(AK70-10)?
Maybe your vendor would know more details of the related setup and issues.