CAN interface connection problem

Autonomous Vehicles DRIVE AGX Orin DRIVE AGX Orin General
1

Please provide the following info (tick the boxes after creating this topic):
Software Version
DRIVE OS 6.0.10.0
DRIVE OS 6.0.8.1
DRIVE OS 6.0.7
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
Linux
QNX
other

Hardware Platform
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
2.1.0
other

Host Machine Version
native Ubuntu Linux 20.04 Host installed with SDK Manager
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

Issue Description
<Please provide details about your query/application pipeline/usecase/pictures here >

The CAN bus has bus error if CAN I/F of Orin-X EVB is connected to vehicle.

  1. I found that 2 channels CAN I/F are connected to Orin-X. But these channels are connected to MCU(AURIX) together. Can it be occurred by MCU?
  2. If it can, How I can prevent these in MCU side? MCU binary is default binary which is supported from Drive OS SDK.

The USB CAN device is connected without error. DRIVE OS 6.0.7 is used to initilize USB CAN device.

And the CAN I/F initialization is executed same like embedded CAN I/F (mttcan).
sudo ip link set can0 type can bitrate 500000 sample-point 0.8 dbitrate 2000000 dsample-point 0.8 fd on
sudo ip link set up can0

The mttcan make error only.

Error String
< Please provide just the error messages here >

Logs
Provide logs in text box instead of image

Please paste the complete application log here. If there are multiple logs, please use multiple text box

3

Dear @chobr84 ,
Can you check if the discussion at Enabling CAN Driver for Nvidia Drive AGX Orin - #28 by SivaRamaKrishnaNV helps your case.
Also, could you elaborate about your CAN connection and your test? May be you can share connection pictures for more clarity.

4

Dear @SivaRamaKrishnaNV ,
It’s hard to attach pictrue in this time. Let me explain our environment.

CAN5 via P11 connector is connected to vehicle CAN network bus. The pin 2 / 7 is connected for high / low. And the termination by 120ohm is configured surely. The another CAN device (Peak CAN) doesn’t make can bus off situation. Only it is happened when Orin-X CAN is connected.

One of my curious question is that connection of MCU(Aurix) CAN with CAN5 and CAN6 of Orin CAN. Doesn’t MCU CAN affect Orin-X CAN?

I guess that cause of bus off can be by MCU. but I couldn’t control MCU can. MCU F/W supports commands only cansetbr / cycliccanon / cycliccanoff for test.