CAN2 and CAN3 receive data errors

Robotics & Edge Computing Jetson Systems Jetson Thor
1

Through the script, start Thor’s 4-channel CAN:

#!/bin/bash
sudo modprobe can
sleep 0.2
sudo modprobe can_raw
sleep 0.2
sudo modprobe mttcan sudo mod探测mttcan
sleep 0.2
sudo ip link set can0 up type can bitrate 500000 dbitrate 1000000 berr-reporting on fd on
sleep 0.2
sudo ip link set can1 up type can bitrate 500000 dbitrate 1000000 berr-reporting on fd on
sleep 0.2
sudo ip link set can2 up type can bitrate 500000 dbitrate 1000000 berr-reporting on fd on
sleep 0.2
sudo ip link set can3 up type can bitrate 500000 dbitrate 1000000 berr-reporting on fd on
sleep 0.2
candump -x any &

Then communicate with the 4-channel CAN via CAN tools. CAN0 and CAN1 can receive data normally, while CAN2 and CAN3 can receive data, but all displayed data are erroneous.

The message printed by the system is as follows：

dkythor@dkythor:~$ ifconfig
can0: flags=193<UP,RUNNING,NOARP> mtu 72
unspec 00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00 txqueuelen 10 (UNSPEC)
RX packets 26 bytes 208 (208.0 B)
RX errors 0 dropped 0 overruns 0 frame 0
TX packets 0 bytes 0 (0.0 B)
TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0
device interrupt 61

can1: flags=193<UP,RUNNING,NOARP> mtu 72
unspec 00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00 txqueuelen 10 (UNSPEC)
RX packets 13 bytes 104 (104.0 B)
RX errors 1 dropped 0 overruns 0 frame 0
TX packets 0 bytes 0 (0.0 B)
TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0
device interrupt 71

can2: flags=193<UP,RUNNING,NOARP> mtu 72
unspec 00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00 txqueuelen 10 (UNSPEC)
RX packets 4042 bytes 32336 (32.3 KB)
RX errors 4040 dropped 0 overruns 0 frame 0
TX packets 0 bytes 0 (0.0 B)
TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0
device interrupt 74

can3: flags=193<UP,RUNNING,NOARP> mtu 72
unspec 00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00 txqueuelen 10 (UNSPEC)
RX packets 1566 bytes 12528 (12.5 KB)
RX errors 1564 dropped 0 overruns 0 frame 0
TX packets 0 bytes 0 (0.0 B)
TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0
device interrupt 75

enP2p1s0: flags=4099<UP,BROADCAST,MULTICAST> mtu 1500
ether 8e:7e:b0:d9:d7:c2 txqueuelen 1000 (Ethernet)
RX packets 0 bytes 0 (0.0 B)
RX errors 0 dropped 0 overruns 0 frame 0
TX packets 0 bytes 0 (0.0 B)
TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0
device interrupt 23

l4tbr0: flags=4099<UP,BROADCAST,MULTICAST> mtu 1500
inet 192.168.55.1 netmask 255.255.255.0 broadcast 0.0.0.0
inet6 fe80::1 prefixlen 64 scopeid 0x20
ether a2:e6:3c:c8:1d:d8 txqueuelen 1000 (Ethernet)
RX packets 0 bytes 0 (0.0 B)
RX errors 0 dropped 0 overruns 0 frame 0
TX packets 0 bytes 0 (0.0 B)
TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0

lo: flags=73<UP,LOOPBACK,RUNNING> mtu 65536
inet 127.0.0.1 netmask 255.0.0.0
inet6 ::1 prefixlen 128 scopeid 0x10
loop txqueuelen 1000 (Local Loopback)
RX packets 771 bytes 69904 (69.9 KB)
RX errors 0 dropped 0 overruns 0 frame 0
TX packets 771 bytes 69904 (69.9 KB)
TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0

mgbe0_0: flags=4099<UP,BROADCAST,MULTICAST> mtu 1466
ether 3c:6d:66:76:dc:72 txqueuelen 1000 (Ethernet)
RX packets 0 bytes 0 (0.0 B)
RX errors 0 dropped 0 overruns 0 frame 0
TX packets 0 bytes 0 (0.0 B)
TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0

mgbe1_0: flags=4099<UP,BROADCAST,MULTICAST> mtu 1466
ether 3c:6d:66:76:dc:73 txqueuelen 1000 (Ethernet)
RX packets 0 bytes 0 (0.0 B)
RX errors 0 dropped 0 overruns 0 frame 0
TX packets 0 bytes 0 (0.0 B)
TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0

mgbe2_0: flags=4099<UP,BROADCAST,MULTICAST> mtu 1466
ether 3c:6d:66:76:dc:74 txqueuelen 1000 (Ethernet)
RX packets 0 bytes 0 (0.0 B)
RX errors 0 dropped 0 overruns 0 frame 0
TX packets 0 bytes 0 (0.0 B)
TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0

mgbe3_0: flags=4099<UP,BROADCAST,MULTICAST> mtu 1466
ether 3c:6d:66:76:dc:75 txqueuelen 1000 (Ethernet)
RX packets 0 bytes 0 (0.0 B)
RX errors 0 dropped 0 overruns 0 frame 0
TX packets 0 bytes 0 (0.0 B)
TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0

usb0: flags=4099<UP,BROADCAST,MULTICAST> mtu 1500
ether c6:00:cf:42:06:69 txqueuelen 1000 (Ethernet)
RX packets 0 bytes 0 (0.0 B)
RX errors 0 dropped 0 overruns 0 frame 0
TX packets 0 bytes 0 (0.0 B)
TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0

usb1: flags=4099<UP,BROADCAST,MULTICAST> mtu 1500
ether c6:00:cf:42:06:6b txqueuelen 1000 (Ethernet)
RX packets 0 bytes 0 (0.0 B)
RX errors 0 dropped 0 overruns 0 frame 0
TX packets 0 bytes 0 (0.0 B)
TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0

wlP1p1s0: flags=4163<UP,BROADCAST,RUNNING,MULTICAST> mtu 1500
inet 192.168.110.134 netmask 255.255.255.0 broadcast 192.168.110.255
inet6 fe80::f0fa:e01:50f3:c72a prefixlen 64 scopeid 0x20
ether f8:3d:c6:91:b9:0e txqueuelen 1000 (Ethernet)
RX packets 85563 bytes 60813481 (60.8 MB)
RX errors 0 dropped 64461 overruns 0 frame 0
TX packets 16974 bytes 1296069 (1.2 MB)
TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0
device interrupt 140

3

Hi 495581051,

Are you using the devkit or custom board for Thor?
What’s the Jetpack version in use?

How do you connect 4 CAN interface for the verification?

Could you also share the result of the following commands on your board?

$ sudo ip -d -s link show can0
$ sudo ip -d -s link show can1
$ sudo ip -d -s link show can2
$ sudo ip -d -s link show can3
4

hello KevinFFF！

We are using a custom board, and the circuit is identical to Thor’s.

5

dkythor@dkythor:~$ sudo ip -d -s link show can0
[sudo] password for dkythor:
3: can0: <NOARP,UP,LOWER_UP,ECHO> mtu 72 qdisc pfifo_fast state UP mode DEFAULT group default qlen 10
link/can promiscuity 0 allmulti 0 minmtu 0 maxmtu 0
can <BERR-REPORTING,FD> state ERROR-ACTIVE (berr-counter tx 0 rx 0) restart-ms 0
bitrate 500000 sample-point 0.875
tq 25 prop-seg 34 phase-seg1 35 phase-seg2 10 sjw 5 brp 1
mttcan: tseg1 2..255 tseg2 0..127 sjw 1..127 brp 1..511 brp_inc 1
dbitrate 1000000 dsample-point 0.750
dtq 25 dprop-seg 14 dphase-seg1 15 dphase-seg2 10 dsjw 5 dbrp 1
mttcan: dtseg1 1..31 dtseg2 0..15 dsjw 1..15 dbrp 1..15 dbrp_inc 1
clock 40000000
re-started bus-errors arbit-lost error-warn error-pass bus-off
0 0 0 0 0 0 numtxqueues 1 numrxqueues 1 gso_max_size 65536 gso_max_segs 65535 tso_max_size 65536 tso_max_segs 65535 gro_max_size 65536 parentbus platform parentdev 81102f0000.mttcan
RX: bytes packets errors dropped missed mcast
7400 925 0 0 0 0
TX: bytes packets errors dropped carrier collsns
0 0 0 0 0 0

6

dkythor@dkythor:~$ sudo ip -d -s link show can1
4: can1: <NOARP,UP,LOWER_UP,ECHO> mtu 72 qdisc pfifo_fast state UP mode DEFAULT group default qlen 10
link/can promiscuity 0 allmulti 0 minmtu 0 maxmtu 0
can <BERR-REPORTING,FD> state ERROR-ACTIVE (berr-counter tx 0 rx 0) restart-ms 0
bitrate 500000 sample-point 0.875
tq 25 prop-seg 34 phase-seg1 35 phase-seg2 10 sjw 5 brp 1
mttcan: tseg1 2..255 tseg2 0..127 sjw 1..127 brp 1..511 brp_inc 1
dbitrate 1000000 dsample-point 0.750
dtq 25 dprop-seg 14 dphase-seg1 15 dphase-seg2 10 dsjw 5 dbrp 1
mttcan: dtseg1 1..31 dtseg2 0..15 dsjw 1..15 dbrp 1..15 dbrp_inc 1
clock 40000000
re-started bus-errors arbit-lost error-warn error-pass bus-off
0 1 0 0 0 0 numtxqueues 1 numrxqueues 1 gso_max_size 65536 gso_max_segs 65535 tso_max_size 65536 tso_max_segs 65535 gro_max_size 65536 parentbus platform parentdev 8110300000.mttcan
RX: bytes packets errors dropped missed mcast
5720 715 1 0 0 0
TX: bytes packets errors dropped carrier collsns
0 0 0 0 0 0

7

dkythor@dkythor:~$ sudo ip -d -s link show can2
5: can2: <NOARP,UP,LOWER_UP,ECHO> mtu 72 qdisc pfifo_fast state UP mode DEFAULT group default qlen 10
link/can promiscuity 0 allmulti 0 minmtu 0 maxmtu 0
can <BERR-REPORTING,FD> state ERROR-PASSIVE (berr-counter tx 0 rx 127) restart-ms 0
bitrate 500000 sample-point 0.875
tq 25 prop-seg 34 phase-seg1 35 phase-seg2 10 sjw 5 brp 1
mttcan: tseg1 2..255 tseg2 0..127 sjw 1..127 brp 1..511 brp_inc 1
dbitrate 1000000 dsample-point 0.750
dtq 25 dprop-seg 14 dphase-seg1 15 dphase-seg2 10 dsjw 5 dbrp 1
mttcan: dtseg1 1..31 dtseg2 0..15 dsjw 1..15 dbrp 1..15 dbrp_inc 1
clock 40000000
re-started bus-errors arbit-lost error-warn error-pass bus-off
0 21023 0 1 1 0 numtxqueues 1 numrxqueues 1 gso_max_size 65536 gso_max_segs 65535 tso_max_size 65536 tso_max_segs 65535 gro_max_size 65536 parentbus platform parentdev 8110330000.mttcan
RX: bytes packets errors dropped missed mcast
168200 21025 21023 0 0 0
TX: bytes packets errors dropped carrier collsns
0 0 0 0 0 0

8

dkythor@dkythor:~$ sudo ip -d -s link show can3
7: can3: <NOARP,UP,LOWER_UP,ECHO> mtu 72 qdisc pfifo_fast state UP mode DEFAULT group default qlen 10
link/can promiscuity 0 allmulti 0 minmtu 0 maxmtu 0
can <BERR-REPORTING,FD> state ERROR-PASSIVE (berr-counter tx 0 rx 127) restart-ms 0
bitrate 500000 sample-point 0.875
tq 25 prop-seg 34 phase-seg1 35 phase-seg2 10 sjw 5 brp 1
mttcan: tseg1 2..255 tseg2 0..127 sjw 1..127 brp 1..511 brp_inc 1
dbitrate 1000000 dsample-point 0.750
dtq 25 dprop-seg 14 dphase-seg1 15 dphase-seg2 10 dsjw 5 dbrp 1
mttcan: dtseg1 1..31 dtseg2 0..15 dsjw 1..15 dbrp 1..15 dbrp_inc 1
clock 40000000
re-started bus-errors arbit-lost error-warn error-pass bus-off
0 2966 0 1 1 0 numtxqueues 1 numrxqueues 1 gso_max_size 65536 gso_max_segs 65535 tso_max_size 65536 tso_max_segs 65535 gro_max_size 65536 parentbus platform parentdev 8110340000.mttcan
RX: bytes packets errors dropped missed mcast
23744 2968 2966 0 0 0
TX: bytes packets errors dropped carrier collsns
0 0 0 0 0 0

9

There are many error bytes on CAN3.

Do you have CAN transceivers connected for CAN2/CAN3 respectively?
Please share the connection block diagram with us to check further.

10

Yes, both CAN2 and CAN3 are connected to CAN transceivers, which the

CAN PHY.pdf (235.4 KB)

n connect to the Thor.

11

Have you verified if internal loopback test working for CAN2/CAN3?