Can't read CAN device

[gp.lemken]

Hi
I’ve got a SICK IMU which I want to connect via CAN (D-SUB) to the NVIDIA Jetson AGX Xavier.
I’ve used modprobe for can, can-dev, can-raw and mttcan. Then I set up with the bitrate of the IMU und activate can0.

But if I use candump/cansniffer I don’t get any data.

To test the IMU I used a PEAK USB adapter and pcanview. It worked, when I set the right CAN clock to 2000000.
I’ve read that the Jetson has set 500000, and I tried to change:

https://docs.nvidia.com/jetson/l4t/index.html#page/Tegra%20Linux%20Driver%20Package%20Development%20Guide/hw_setup_jetson_can.html#

But I can’t find where to change.

[JerryChang]

hello gianluca.podann,

you may enable the CAN and configure the CAN interface settings.
for example,
$ ip link set can0 type can bitrate 500000 dbitrate 2000000 berr-reporting on fd on
$ ip link set up can0

[gp.lemken]

thx for help.
I enabled CAN and used your example with my settings, but it doesn’t work.
Does dbitrate mean the clockrate?

[JerryChang]

hello gianluca.podann,

there’s some known issue to communicate with other devices.
could you please have a try to configure bitrate artificially high (i.e. 3-Mbps setting for 1-Mbps desired) for testing,

@gp.lemken

Does dbitrate mean the clockrate?

it’s bitrate configurations for the dsample-point. it used by CAN_FD interface type.
thanks

[gp.lemken]

With bitrate 3000000 I get: Invalid argument

[shgarg]

Please check following relevant sections from hw_setup_jetson_can document.
Changing the CAN parent clock on T194 platforms
Changing the CAN Clock Rate