CAN-interface issue

Autonomous Machines Jetson & Embedded Systems Jetson AGX Orin
1

Hello,

I am using a NVIDIA Jetson-Orin Developer kit with a Waveshare transceiver to control 1232se Curtis controller MRT98 motors over can-bus. After I start the can bus using the instructions in Controller Area Network (CAN) — Jetson Linux<br/>Developer Guide 34.1 documentation

and sending a few messages, the communication between the bus and the PC fails. Initially I thought this was a bus crash. Further inspection showed that this was an issue on the Jetson Orin side. ifconfig-can0 shows 1 dropped message on the transmitter and the receiver keeps receiving the messages from the controller but I am not able to send any messages to the bus.

Restart of the Jetson helps solve this issue. Any idea why this actually happens?

Data collection is being done at 125kbps. Issue is more common at 500kbps and 1mbps.

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Hi ssivalumar,

Are you using Orin NX on the Orin Nano devkit board?

What’s your Jetpack version in use?

Have you verified the internal loopback test before connect it with your PC?

Do you mean 125kbps could work but 500kbps/1Mbps would fail?

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Hello KevinFFF,

I am using the Jetson AGX Orin developer kit. I don’t have the exact developer version, but I know it is the latest version. I verified the internal loopback test and it tested positive.

Yes, along those lines. I have explained in detail below

@125kbps - the communication is stable for long periods (was tested for about 2hrs) without any bus failure and the commands sent to the motor were communicated properly with the motors responding to them. The motor replied back with status messages as well.

@500kbps - the communication is stable for short periods (was tested for about 6minutes) during which the motor responded to bus commands and communicated status messages. after this duration, the bus was still on, but the communication between the PC and the bus seems to break. If I restart the PC, it is established again. It is also reestablished if I restart the bus using stop/start commands in terminal.

@1mbps - the communication is stable for short periods (was tested for about 2minutes) during which if i sent any message to the motor, the jetson to bus communication breaks. If I restart the bus by doing start/stop, I get data from the bus, but I am not able to send messages to the bus.

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Unless I restart the PC but even then @1mbps, it still does not work.

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I’ve moved your topic to correct category for AGX Orin.

When you were verifying the internal loopback test, could it work with 500kbps and 1Mbps?

Could you share the result of the following command at this moment?

$ sudo ip -d -s link show can0
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Solved it for now by increasing the sjw limit from 1 to 4 by using the command
sudo ip link set can0 up type can bitrate 500000 sjw 4

and using a PCAN connector instead of the waveshare. When using the waveshare, the number of TX berr-counter keeps increasing and resetting to zero and the number of error and warnings keep increasing until the bus crashes

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