# CAN from SPE

**URL:** <https://forums.developer.nvidia.com/t/can-from-spe/331119>\
**Category:** Jetson Orin Nano\
**Tags:** can-bus\
**Created:** [April 22, 2025, 6:32pm UTC](https://forums.developer.nvidia.com/t/can-from-spe/331119 "2025-04-22T18:32:48Z")\
**Posts on this page:** 1\
**Showing post:** 4

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**Author:** ![andreas6](https://sea2.discourse-cdn.com/nvidia/user_avatar/forums.developer.nvidia.com/andreas6/32/36077_2.png) [@andreas6](https://forums.developer.nvidia.com/u/andreas6)\
**Post date:** [April 23, 2025, 5:24am UTC](https://forums.developer.nvidia.com/t/can-from-spe/331119/4 "2025-04-23T05:24:56Z")

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> [@KevinFFF](#):
>
> Hi andreas6,
> 
> Are you using the devkit or custom board for Orin Nano?  
> What’s the Jetpack version in use?

This is a custom carrier board, jetpack version is 36.4.3

> [@KevinFFF](#):
>
> > [@andreas6](#):
> >
> > enable the required clocks for running the CAN block from the SPE
> 
> How do you find that there’s CAN interface from SPE?

The TRM says so in Chapter 8.9.1:

```auto
The AON cluster provides a processor (the SPE) and a set of peripherals in a small power island that
may remain on when the majority of the System-on-Chip (SoC) is powered off. This cluster
supports some I/O functions, and also provides hardware to wake the SoC when a number of
different events occur.
Use cases include, but are not limited to:
 * low power sensor management during standby
 * running specific communications stacks in standby, including the CAN bus
 * wake management from sleep states

```

Also the fact that there are directly routed IRQ from the CAN blocks to the SPE’s AVIC0 would indicate this is in fact an intended usecase.

> [@KevinFFF](#):
>
> Please refer to [Jetson Sensor Processing Engine (SPE) Developer Guide: Welcome](https://docs.nvidia.com/jetson/archives/r36.4/spe/index.html) for SPE on Orin Nano.

Yes, but the SPE firmware offered by Nvidia does not have CAN support, this is what i’m trying to add.

Also see this thread: [How can I use the SPE & CAN and Where I get the SCR info? - #4 by jachen](https://forums.developer.nvidia.com/t/how-can-i-use-the-spe-can-and-where-i-get-the-scr-info/260036/4)

> [@KevinFFF](#):
>
> May I know what’s your use case and requirement?

I would like to run custom code in the SPE and control peripherals over CAN, SPI and GPIO with better realtime performance that what Linux can offer.

I’m also interested in low-power-mode and wakeup over CAN.

As the TRM indicates this is the intended use for the SPE and AON cluster.

Thanks.

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