Can't get Waveshare MCP2515 HAT to work on my Jetson Nano

Robotics & Edge Computing Jetson & Embedded Systems Jetson Nano
1

Hi!

I’m struggling to get the following Hat to work with my Jetson Nano Development Board:

I tried to follow this guide on my current Setup, which looks like this:

NVIDIA Jetson Nano Development Kit B01
Jetpack 4.6.1
L4T 32.7.1
The OS is running on an SSD connected via USB3

I made the following changes to the provided jetson-mcp251x.dts:

fragment@0 {
...
clock-frequency = <8000000>;
...
fragment@1 {
...
interrupts = <&gpio HDR40_PIN29_GPIO 0x1>;
...

because the Clock of the Hat is 8Mhz and the Interrupt PIN on the 40-Pin Header is 29.

The dts wouldn’t Build on this Setup and exited with the following error:

tba@linux:~/tri/Linux_for_Tegra/source/public/kernel/kernel-4.9$ make ARCH=arm64 tegra_defconfig
  HOSTCC  scripts/kconfig/conf.o
  HOSTCC  scripts/kconfig/zconf.tab.o
  HOSTLD  scripts/kconfig/conf
#
# configuration written to .config
#
tba@linux:~/tri/Linux_for_Tegra/source/public/kernel/kernel-4.9$ make ARCH=arm64 dtbs
scripts/kconfig/conf  --silentoldconfig Kconfig
  CHK     scripts/mod/devicetable-offsets.h
  DTC     arch/arm64/boot/dts/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/hardware/nvidia/platform/t210/jetson/kernel-dts/tegra210-jetson-cv-base-p2597-2180-a00.dtb
  DTC     arch/arm64/boot/dts/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/hardware/nvidia/platform/t210/jetson/kernel-dts/tegra210-jetson-cv-p2597-2180-a00.dtb
  DTC     arch/arm64/boot/dts/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/hardware/nvidia/platform/t210/jetson/kernel-dts/tegra210-jetson-cv-p2597-2180-imx274-hdmi.dtb
  DTC     arch/arm64/boot/dts/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/hardware/nvidia/platform/t210/jetson/kernel-dts/tegra210-jetson-cv-p2597-2180-a00-auo-1080p-edp.dtb
  DTC     arch/arm64/boot/dts/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/hardware/nvidia/platform/t210/jetson/kernel-dts/tegra210-jetson-tx1-p2597-2180-a01-android-devkit.dtb
  DTC     arch/arm64/boot/dts/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/hardware/nvidia/platform/t210/jetson/kernel-dts/tegra210-jetson-tx1-p2597-2180-a01-devkit.dtb
  DTC     arch/arm64/boot/dts/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/hardware/nvidia/platform/t210/jetson/kernel-dts/tegra210-jetson-tx1-imx274-dp-hdmi.dtb
  DTC     arch/arm64/boot/dts/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/hardware/nvidia/platform/t210/jetson/kernel-dts/tegra210-jetson-e-base-p2595-0000-a00.dtb
  DTC     arch/arm64/boot/dts/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/hardware/nvidia/platform/t210/jetson/kernel-dts/tegra210-jetson-e-p2595-0000-a00-00.dtb
  DTC     arch/arm64/boot/dts/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/hardware/nvidia/platform/t210/jetson/kernel-dts/tegra210-jetson-tx1-p2597-2180-a02-devkit-24x7.dtb
  DTC     arch/arm64/boot/dts/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/hardware/nvidia/platform/t210/jetson/kernel-dts/tegra210-jetson-tx1-p2597-2180-a01-devkit_as_TM660M.dtb
  DTC     arch/arm64/boot/dts/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/hardware/nvidia/platform/t210/porg/kernel-dts/tegra210-p3448-0000-p3449-0000-a00.dtb
  DTC     arch/arm64/boot/dts/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/hardware/nvidia/platform/t210/porg/kernel-dts/tegra210-p3448-0000-p3449-0000-a01.dtb
  DTC     arch/arm64/boot/dts/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/hardware/nvidia/platform/t210/porg/kernel-dts/tegra210-p3448-0000-p3449-0000-a02.dtb
  DTC     arch/arm64/boot/dts/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/hardware/nvidia/platform/t210/porg/kernel-dts/tegra210-p3448-0002-p3449-0000-a02.dtb
  DTC     arch/arm64/boot/dts/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/hardware/nvidia/platform/t210/porg/kernel-dts/tegra210-p3448-0000-p3449-0000-b00.dtb
  DTC     arch/arm64/boot/dts/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/hardware/nvidia/platform/t210/porg/kernel-dts/tegra210-p3448-0002-p3449-0000-b00.dtb
  DTC     arch/arm64/boot/dts/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/hardware/nvidia/platform/t210/porg/kernel-dts/tegra210-p3448-0000-as-p3448-0003.dtb
  DTC     arch/arm64/boot/dts/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/hardware/nvidia/platform/t210/porg/kernel-dts/tegra210-p3448-0000-p3449-0000-b00-hdmi-dsi.dtb
  DTC     arch/arm64/boot/dts/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/hardware/nvidia/platform/t210/porg/kernel-dts/tegra210-p3448-0000-p3449-0000-a02-hdmi-dsi.dtb
  DTC     arch/arm64/boot/dts/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/hardware/nvidia/platform/t210/batuu/kernel-dts/tegra210-p3448-0003-p3542-0000.dtb
  DTC     arch/arm64/boot/dts/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/hardware/nvidia/platform/t210/batuu/kernel-dts/tegra210-p3448-0003-p3542-0000-hdmi-dsi.dtb
  DTC     arch/arm64/boot/dts/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/hardware/nvidia/platform/t210/jetson/kernel-dts/tegra210-jetson-tx1-p2597-2180-a01-devkit-hdr40.dtbo
  DTC     arch/arm64/boot/dts/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/hardware/nvidia/platform/t210/jetson/kernel-dts/tegra210-jetson-tx1-p2597-2180-a01-devkit-adafruit-sph0645lm4h.dtbo
  DTC     arch/arm64/boot/dts/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/hardware/nvidia/platform/t210/jetson/kernel-dts/tegra210-jetson-tx1-p2597-2180-a01-devkit-adafruit-uda1334a.dtbo
  DTC     arch/arm64/boot/dts/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/hardware/nvidia/platform/t210/jetson/kernel-dts/tegra210-jetson-tx1-p2597-2180-a01-devkit-fe-pi-audio.dtbo
  DTC     arch/arm64/boot/dts/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/hardware/nvidia/platform/t210/jetson/kernel-dts/tegra210-jetson-tx1-p2597-2180-a01-devkit-respeaker-4-mic-array.dtbo
  DTC     arch/arm64/boot/dts/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/hardware/nvidia/platform/t210/jetson/kernel-dts/tegra210-jetson-tx1-p2597-2180-a01-devkit-respeaker-4-mic-lin-array.dtbo
  DTC     arch/arm64/boot/dts/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/hardware/nvidia/platform/t210/jetson/kernel-dts/tegra210-jetson-tx1-p2597-2180-a01-devkit-m2ke.dtbo
  DTC     arch/arm64/boot/dts/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/hardware/nvidia/platform/t210/jetson/kernel-dts/tegra210-jetson-tx1-p2597-2180-a01-devkit-csi.dtbo
  DTC     arch/arm64/boot/dts/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/hardware/nvidia/platform/t210/jetson/kernel-dts/tegra210-jetson-tx1-p2597-2180-a01-devkit-hdr30.dtbo
  DTC     arch/arm64/boot/dts/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/hardware/nvidia/platform/t210/porg/kernel-dts/tegra210-p3448-0000-p3449-0000-a01-adafruit-sph0645lm4h.dtbo
  DTC     arch/arm64/boot/dts/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/hardware/nvidia/platform/t210/porg/kernel-dts/tegra210-p3448-0000-p3449-0000-a02-adafruit-sph0645lm4h.dtbo
  DTC     arch/arm64/boot/dts/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/hardware/nvidia/platform/t210/porg/kernel-dts/tegra210-p3448-0000-p3449-0000-a01-adafruit-uda1334a.dtbo
  DTC     arch/arm64/boot/dts/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/hardware/nvidia/platform/t210/porg/kernel-dts/tegra210-p3448-0000-p3449-0000-a02-adafruit-uda1334a.dtbo
  DTC     arch/arm64/boot/dts/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/hardware/nvidia/platform/t210/porg/kernel-dts/tegra210-p3448-0000-p3449-0000-a01-fe-pi-audio.dtbo
  DTC     arch/arm64/boot/dts/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/hardware/nvidia/platform/t210/porg/kernel-dts/tegra210-p3448-0000-p3449-0000-a02-fe-pi-audio.dtbo
  DTC     arch/arm64/boot/dts/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/hardware/nvidia/platform/t210/porg/kernel-dts/tegra210-p3448-0000-p3449-0000-a01-hdr40.dtbo
  DTC     arch/arm64/boot/dts/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/hardware/nvidia/platform/t210/porg/kernel-dts/tegra210-p3448-0000-p3449-0000-a02-hdr40.dtbo
  DTC     arch/arm64/boot/dts/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/hardware/nvidia/platform/t210/porg/kernel-dts/tegra210-p3448-0000-p3449-0000-a01-respeaker-4-mic-array.dtbo
  DTC     arch/arm64/boot/dts/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/hardware/nvidia/platform/t210/porg/kernel-dts/tegra210-p3448-0000-p3449-0000-a02-respeaker-4-mic-array.dtbo
  DTC     arch/arm64/boot/dts/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/hardware/nvidia/platform/t210/porg/kernel-dts/tegra210-p3448-0000-p3449-0000-a01-respeaker-4-mic-lin-array.dtbo
  DTC     arch/arm64/boot/dts/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/hardware/nvidia/platform/t210/porg/kernel-dts/tegra210-p3448-0000-p3449-0000-a02-respeaker-4-mic-lin-array.dtbo
  DTC     arch/arm64/boot/dts/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/hardware/nvidia/platform/t210/porg/kernel-dts/tegra210-p3448-0000-p3449-0000-a01-mcp251x.dtbo
ERROR (duplicate_label): Duplicate label 'jetson_io_pinmux' on /fragment@3/__overlay__/header-40pin-pinmux and /fragment@2/__overlay__/exp-header-pinmux
ERROR: Input tree has errors, aborting (use -f to force output)
arch/arm64/boot/dts/Makefile:133: recipe for target 'arch/arm64/boot/dts/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/hardware/nvidia/platform/t210/porg/kernel-dts/tegra210-p3448-0000-p3449-0000-a01-mcp251x.dtbo' failed
make[1]: *** [arch/arm64/boot/dts/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/_ddot_/hardware/nvidia/platform/t210/porg/kernel-dts/tegra210-p3448-0000-p3449-0000-a01-mcp251x.dtbo] Error 2
arch/arm64/Makefile:154: recipe for target 'dtbs' failed
make: *** [dtbs] Error 2

To make sure the Build error does not come from the newer Jetpack or my System Setup, i switched to the same Setup as the Author of the guide and installed a fresh copy of Jetpack 4.6 to an SD-Card and i did not make any Changes to this Setup except of Setting up my Network.

So this new Setup looks like this:

NVIDIA Jetson Nano Development Kit B01
Jetpack 4.6
L4T 32.6.1

As before i followed the guide, edited the dts to my needs and this time the dts would build, though the filename differs for some Reason:

Filename in the Guide: tegra210-p3348-0003-p3542-0000-mcp251x.dtbo
Filename on my System after Build: tegra210-p3448-0003-p3542-0000-mcp251x.dtbo

But the jetson-io.py Tool gave me the following error when trying to configure mcp251x :

 |                            FATAL ERROR!                            |
 |                                                                    |
 |                                                                    |
 |                 Failed to get pin number for node                  |
 |        /fragment@2/__overlay__/header-40pin-pinmux/pin37/!         |
 |                                                                    |
 |                     Press any key to terminate                     |

Did i miss anything?

I also tried the guide at the End of this Thread, but did not have any luck with that one either.

Any help would be greatly appreciated.

Thank You
Timo

2

Please refer to below thread to see if can gain some ideas:
CAN with Jetson Nano Production Module - Jetson & Embedded Systems / Jetson Nano - NVIDIA Developer Forums

3

@kayccc Thank you, i will check the thread and post updates here!

4

Unfortunately, the link did not help me, as i am already on Jetpack 4.6.1. Any other hints/ideas?

Thank you
Timo

5

I finally got it working on Jetpack 4.6.1. Unfortunately, the Main problem was bad wiring.

Here is what I did to get it working, in case it’s of use for anyone else using the Waveshare CAN Hat for the NVIDIA Jetson Nano:

I mostly followed this guide to build the DTBO File:

My changes to this guide are the following:

  1. I edited the dtbs provided in this post to work with the Waveshare HAT, which is attached here:
    jetson-waveshare-mcp251x.dts (3.8 KB)

  2. I did not delete any files in the /boot folder

  3. I did not use jetson-io, because it won’t work on my system for some reason. Instead after Bulding the dtbo and copying it to /boot/, i found out that there is a more convenient way to load the dtbo for my use case. One can simply edit the extlinux.conf in /boot/extlinux/ and add the following line:

    FDTOVERLAYS /boot/jetson-waveshare-mcp251x.dtbo

After a reboot everything worked as expected.

Thanks for the help
Timo

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