"can0" is not working in Drive AGX Xavier

Autonomous Vehicles DRIVE AGX Xavier DRIVE AGX Xavier General
1

Software Version
DRIVE OS Linux 5.2.6
DRIVE OS Linux 5.2.6 and DriveWorks 4.0
DRIVE OS Linux 5.2.0
DRIVE OS Linux 5.2.0 and DriveWorks 3.5
NVIDIA DRIVE™ Software 10.0 (Linux)
NVIDIA DRIVE™ Software 9.0 (Linux)
other DRIVE OS version
other

Target Operating System
Linux
QNX
other

Hardware Platform
NVIDIA DRIVE™ AGX Xavier DevKit (E3550)
NVIDIA DRIVE™ AGX Pegasus DevKit (E3550)
other

SDK Manager Version
1.9.1.10844
other

Host Machine Version
native Ubuntu 18.04
other

As per the following CAN mapping understanding of Drive AGX Xavier,

  • Physical CAN 2 → Logical can0
  • Physical CAN 4 → Logical can1

I connected,

  1. CAN 4&6 to can-RTC module.
  2. CAN 1&2 to a laptop which generates can messages(can2.0A, 500kbit/s) from can-oe software. Also, connected 120ohm termination to this CAN.

Enabled can0 and can1 in both xavier using,

$ sudo ip link set can0 type can bitrate 500000 && sudo ip link set up can0
$ sudo ip link set can1 type can bitrate 500000 && sudo ip link set up can1

I opened both xavier-A and xavier-B terminals and did the loopback testing. Loopback testing of can1 was success.

# Xavier-A
$ cansend can1 120#1122334455667788

# Xavier-B
$ candump can1
can1 120 [8] 11 22 33 44 55 66 77 88

But loopback testing on can0 puts can0 to ERROR_PASSIVE state.

All CAN related drivers (can_raw, can, mttcan, can_dev) are installed except mttcan_ivc. Is that the problem?

2

Dear @nvBalaji
Did you check https://docs.nvidia.com/drive/drive-os-5.2.6.0L/drive-os/index.html#page/DRIVE_OS_Linux_SDK_NGC_Development_Guide/Interfaces/sys_components_tegra_can.html#wwpID0E0BD0HA and Setting up CAN loopback?