CANBus Packet Loss and Error States on Jetson AGX Orin Developer Kit

ChandraTsai · October 9, 2024, 9:58am

Hi ,

We’re experiencing an issue with CANBus packet loss on our Jetson AGX Orin Developer Kit, alongside some error states. Here’s how we’ve configured CANBus:

sudo busybox devmem 0x0c303000 w 0xc400
sudo busybox devmem 0x0c303008 w 0xc458
sudo busybox devmem 0x0c303010 w 0xc400
sudo busybox devmem 0x0c303018 w 0xc458
sudo modprobe can
sudo modprobe can_raw
sudo modprobe mttcan
sudo ip link set can0 type can bitrate 250000 dbitrate 1000000 berr-reporting on fd on
sudo ip link set can1 type can bitrate 500000 dbitrate 1000000 berr-reporting on fd on
sudo ip link set up can0
sudo ip link set up can1

After this configuration, can0 is able to send and receive data normally. However, compared to a CAN analyzer, we observed the following issues:

ID 0x190 messages: Data from this message ID is completely missing.
Other messages: Around 1% of the packets are lost.

Additionally, when running dmesg, we encounter the following error messages:

[ 1126.982351] mttcan c310000.mttcan can0: entered error warning state
[ 1127.077773] mttcan c310000.mttcan can0: Stuff Error Detected
[ 1127.083642] mttcan c310000.mttcan can0: entered error warning state
[ 1127.178381] mttcan c310000.mttcan can0: entered error warning state
[ 1127.184857] mttcan c310000.mttcan can0: Stuff Error Detected
[ 1127.279301] mttcan c310000.mttcan can0: Stuff Error Detected
[ 1127.285157] mttcan c310000.mttcan can0: entered error warning state
[ 1127.291638] mttcan c310000.mttcan can0: entered error passive state
[ 1127.298110] mttcan c310000.mttcan can0: Stuff Error Detected
[ 1127.380231] mttcan c310000.mttcan can0: Stuff Error Detected
[ 1127.386080] mttcan c310000.mttcan can0: entered error warning state
[ 1127.392550] mttcan c310000.mttcan can0: entered error passive state
[ 1127.399019] mttcan c310000.mttcan can0: Stuff Error Detected
[ 1127.481642] mttcan c310000.mttcan can0: entered error warning state
[ 1127.488107] mttcan c310000.mttcan can0: Stuff Error Detected
[ 1127.583530] mttcan c310000.mttcan can0: Stuff Error Detected
[ 1127.589365] mttcan_poll_ir: 94 callbacks suppressed
[ 1127.589369] mttcan c310000.mttcan can0: IR 0x8000000 PSR 0x711
[ 1127.601709] mttcan c310000.mttcan can0: entered error warning state
[ 1127.608222] mttcan c310000.mttcan can0: IR 0x9800001 PSR 0x748
[ 1127.685827] mttcan c310000.mttcan can0: Stuff Error Detected
[ 1127.691662] mttcan c310000.mttcan can0: IR 0x8000000 PSR 0x751
[ 1127.697724] mttcan c310000.mttcan can0: entered error passive state
[ 1127.704203] mttcan c310000.mttcan can0: Format Error Detected
[ 1127.710150] mttcan c310000.mttcan can0: IR 0x8800000 PSR 0x76a
[ 1127.786840] mttcan c310000.mttcan can0: Stuff Error Detected
[ 1127.792697] mttcan c310000.mttcan can0: IR 0x8000000 PSR 0x711
[ 1127.798961] mttcan c310000.mttcan can0: entered error warning state
[ 1127.805417] mttcan c310000.mttcan can0: IR 0x9800001 PSR 0x748
[ 1127.887766] mttcan c310000.mttcan can0: Stuff Error Detected
[ 1127.893615] mttcan c310000.mttcan can0: IR 0x8000000 PSR 0x751
[ 1127.899681] mttcan c310000.mttcan can0: IR 0x8800001 PSR 0x748
[ 1127.988708] mttcan c310000.mttcan can0: Stuff Error Detected
[ 1127.994559] mttcan c310000.mttcan can0: IR 0x8000000 PSR 0x711
[ 1128.000605] mttcan c310000.mttcan can0: entered error warning state
[ 1128.007061] mttcan c310000.mttcan can0: IR 0x9800001 PSR 0x750
[ 1128.089489] mttcan c310000.mttcan can0: Stuff Error Detected
[ 1128.095372] mttcan c310000.mttcan can0: entered error passive state
[ 1128.101848] mttcan c310000.mttcan can0: Stuff Error Detected
[ 1128.190782] mttcan c310000.mttcan can0: Stuff Error Detected
[ 1128.196646] mttcan c310000.mttcan can0: entered error warning state
[ 1128.203117] mttcan c310000.mttcan can0: entered error passive state
[ 1128.209582] mttcan c310000.mttcan can0: Format Error Detected
[ 1128.292505] mttcan c310000.mttcan can0: Stuff Error Detected
[ 1128.298363] mttcan c310000.mttcan can0: entered error passive state
[ 1128.304837] mttcan c310000.mttcan can0: Format Error Detected
[ 1128.393393] mttcan c310000.mttcan can0: Stuff Error Detected
[ 1128.399248] mttcan c310000.mttcan can0: entered error warning state
[ 1128.405721] mttcan c310000.mttcan can0: entered error passive state
[ 1128.412199] mttcan c310000.mttcan can0: Format Error Detected
[ 1128.494328] mttcan c310000.mttcan can0: Stuff Error Detected
[ 1128.500179] mttcan c310000.mttcan can0: entered error passive state
[ 1128.506652] mttcan c310000.mttcan can0: Format Error Detected
[ 1128.595960] mttcan c310000.mttcan can0: Stuff Error Detected
[ 1128.601819] mttcan c310000.mttcan can0: entered error passive state
[ 1128.608292] mttcan c310000.mttcan can0: Format Error Detected
[ 1128.698306] mttcan c310000.mttcan can0: entered error warning state
[ 1128.704810] mttcan c310000.mttcan can0: Stuff Error Detected
[ 1128.799061] mttcan c310000.mttcan can0: Stuff Error Detected
[ 1128.804935] mttcan c310000.mttcan can0: entered error warning state
[ 1128.899996] mttcan c310000.mttcan can0: Stuff Error Detected
[ 1128.905869] mttcan c310000.mttcan can0: entered error warning state
[ 1128.912351] mttcan c310000.mttcan can0: entered error passive state
[ 1128.918827] mttcan c310000.mttcan can0: Stuff Error Detected
[ 1129.000865] mttcan c310000.mttcan can0: Stuff Error Detected
[ 1129.006739] mttcan c310000.mttcan can0: entered error warning state
[ 1129.013208] mttcan c310000.mttcan can0: Stuff Error Detected
[ 1129.102824] mttcan c310000.mttcan can0: Stuff Error Detected
[ 1129.108688] mttcan c310000.mttcan can0: entered error warning state
[ 1129.115148] mttcan c310000.mttcan can0: entered error passive state
[ 1129.121608] mttcan c310000.mttcan can0: Format Error Detected
[ 1129.203954] mttcan c310000.mttcan can0: entered error warning state
[ 1129.210447] mttcan c310000.mttcan can0: Stuff Error Detected
[ 1129.305343] mttcan c310000.mttcan can0: entered error warning state
[ 1129.311830] mttcan c310000.mttcan can0: Stuff Error Detected
[ 1129.405956] mttcan c310000.mttcan can0: Stuff Error Detected
[ 1129.411832] mttcan c310000.mttcan can0: entered error warning state
[ 1129.418300] mttcan c310000.mttcan can0: entered error passive state
[ 1129.424766] mttcan c310000.mttcan can0: Format Error Detected
[ 1129.508235] mttcan c310000.mttcan can0: Stuff Error Detected
[ 1129.514099] mttcan c310000.mttcan can0: entered error warning state
[ 1129.520575] mttcan c310000.mttcan can0: entered error passive state
[ 1129.527049] mttcan c310000.mttcan can0: Stuff Error Detected
[ 1129.609495] mttcan c310000.mttcan can0: Stuff Error Detected
[ 1129.615351] mttcan c310000.mttcan can0: entered error passive state
[ 1129.621821] mttcan c310000.mttcan can0: Format Error Detected
[ 1129.711648] mttcan c310000.mttcan can0: Stuff Error Detected
[ 1129.717504] mttcan c310000.mttcan can0: entered error passive state
[ 1129.723974] mttcan c310000.mttcan can0: Format Error Detected
[ 1129.812417] mttcan c310000.mttcan can0: Stuff Error Detected
[ 1129.818279] mttcan c310000.mttcan can0: entered error warning state
[ 1129.913369] mttcan c310000.mttcan can0: Stuff Error Detected

Looking forward to any advice or experiences you can share. Thanks in advance!

carolyuu · October 9, 2024, 12:50pm

Hi,
On Jetson platforms, we support using peripherals like CAN, SPI, I2C, UART… etc. for the user.
For CAN usage:
https://docs.nvidia.com/jetson/archives/r36.3/DeveloperGuide/HR/ControllerAreaNetworkCan.html
For the connection of peripheral on the devkit, please refer to expansion-headers guide and carrier board specification:
https://docs.nvidia.com/jetson/archives/r36.3/DeveloperGuide/HR/ConfiguringTheJetsonExpansionHeaders.html

For pin configuration, please refer to pinmux spreadsheet:
https://developer.nvidia.com/embedded/secure/jetson/agx_orin/jetson_agx_orin_pinmux_config_template.xlsm

By default, the configuration is used for the devkit. If you are using the custom carrier board, please configure it according to your custom board design.

There are also several examples which have been verified from us, please check
https://elinux.org/Jetson/L4T/peripheral/
Please share the full dmesg and device tree for us to check your status in detail.

Thanks!

KevinFFF · October 11, 2024, 2:33am

Hi ChandraTsai,

Are you trying to perform CAN transaction from internal can0 to can1?

Do you connect the CAN transceivers for each interfaces?
Could you share the block diagram of your connections?

Please 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

ChandraTsai · October 11, 2024, 12:28pm

Hi KevinFFF，

We are using the official recommended CAN transceiver, model SN65HVD230. Testing between can0 and can1 has been successful, and both interfaces work well individually with a CAN analyzer. However, when testing with our device, we encounter the previously mentioned issue. Meanwhile, testing with a PC and a PCIe-CAN card connected to our device does not show any problems. Throughout the entire process, we have ensured a 120-ohm termination resistor at both ends of the CAN bus, maintaining a total resistance of 60 ohms.

System Version: Ubuntu 20.04
nvidia-l4t-core: 35.4.1-20230801124926
Jetpack Info:

Package: nvidia-jetpack
Version: 5.1.2-b104
Architecture: arm64
Maintainer: NVIDIA Corporation
Installed-Size: 194
Depends: nvidia-jetpack-runtime (= 5.1.2-b104), nvidia-jetpack-dev (= 5.1.2-b104)
Homepage: http://developer.nvidia.com/jetson
Priority: standard
Section: metapackages
Filename: pool/main/n/nvidia-jetpack/nvidia-jetpack_5.1.2-b104_arm64.deb
Size: 29304
SHA256: fda2eed24747319ccd9fee9a8548c0e5dd52812363877ebe90e223b5a6e7e827
SHA1: 78c7d9e02490f96f8fbd5a091c8bef280b03ae84
MD5sum: 6be522b5542ab2af5dcf62837b34a5f0
Description: NVIDIA Jetpack Meta Package
Description-md5: ad1462289bdbc54909ae109d1d32c0a8

Here is the connection diagram for the CAN setup. There should be multiple CAN devices inside the device, and we don’t know exactly how many there are, but the total resistance of the device is 120 ohms.

Also, here is the ip link show information:

$ sudo ip -d -s link show can1
11: can1: <NOARP,UP,LOWER_UP,ECHO> mtu 16 qdisc pfifo_fast state UP mode DEFAULT group default qlen 10
    link/can  promiscuity 0 minmtu 0 maxmtu 0 
    can <BERR-REPORTING> state ERROR-WARNING (berr-counter tx 0 rx 127) restart-ms 1000 
	  bitrate 250000 sample-point 0.875 
	  tq 20 prop-seg 87 phase-seg1 87 phase-seg2 25 sjw 1
	  mttcan: tseg1 2..255 tseg2 0..127 sjw 1..127 brp 1..511 brp-inc 1
	  mttcan: dtseg1 1..31 dtseg2 0..15 dsjw 1..15 dbrp 1..15 dbrp-inc 1
	  clock 50000000 
	  re-started bus-errors arbit-lost error-warn error-pass bus-off
	  0          5717       0          2774       1627       0         numtxqueues 1 numrxqueues 1 gso_max_size 65536 gso_max_segs 65535 
    RX: bytes  packets  errors  dropped overrun mcast   
    1132917    143009   5717    0       0       0       
    TX: bytes  packets  errors  dropped carrier collsns 
    0          0        0       0       0       0       
$ sudo ip -d -s link show can0
10: can0: <NOARP,UP,LOWER_UP,ECHO> mtu 16 qdisc pfifo_fast state UP mode DEFAULT group default qlen 10
    link/can  promiscuity 0 minmtu 0 maxmtu 0 
    can <BERR-REPORTING> state ERROR-ACTIVE (berr-counter tx 0 rx 0) restart-ms 1000 
	  bitrate 250000 sample-point 0.875 
	  tq 20 prop-seg 87 phase-seg1 87 phase-seg2 25 sjw 1
	  mttcan: tseg1 2..255 tseg2 0..127 sjw 1..127 brp 1..511 brp-inc 1
	  mttcan: dtseg1 1..31 dtseg2 0..15 dsjw 1..15 dbrp 1..15 dbrp-inc 1
	  clock 50000000 
	  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 
    RX: bytes  packets  errors  dropped overrun mcast   
    0          0        0       0       0       0       
    TX: bytes  packets  errors  dropped carrier collsns 
    0          0        0       0       0       0

Additionally, the following are the dmesg logs:
dmesg.log (140.9 KB)

Let me know if you need more details.

KevinFFF · October 15, 2024, 3:42am

Thanks for sharing the info.

It seems the issue happening only if you connect with other CAN devices.

There’re error packets been found.
Have you confirmed that you have the similar configurations(like bitrate, 250k!?) for them?

ChandraTsai · October 15, 2024, 6:50am

It was my oversight in the last response, where I didn’t clearly mention that the results provided were from testing with CAN1. This might cause some discrepancies with the description in the subject.

We cannot configure this CAN device, and I believe it’s not their issue because using a desktop connected to the PCIE-CAN module works fine. Additionally, it’s worth noting that Orin is not completely failing to receive messages, the baud rate setting should be correct. We also tried upgrading the system to Jetson Linux 36.4, but the result remained the same.

We first encountered this issue not on the Jetson AGX Orin Developer Kit but on a third-party custom board. Initially, we thought it was a problem with the custom board, but after testing on the Jetson AGX Orin Developer Kit, we observed the same behavior.

KevinFFF · October 16, 2024, 4:06pm

From the result you shared, i knew that you were using can1 for the testing.
(i.e. there are error packets on can1)

Have you also checked if specify sjw 4 option may help in your case?

I would also like to check the CAN status from your device 1 and device 2. (like the one you run sudo ip -d -s link show can1 on Jetson)

ChandraTsai · October 17, 2024, 2:18am

Thank you so much for your help, it has been incredibly valuable to us. After specifying the sjw 4 option, the issue no longer occurs!

system · November 5, 2024, 6:21am

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