Configuring Aurix to forward extended CAN frames

Continuing the discussion from Configuring CAN Channels on the Drive Xavier:

Software Version
DRIVE OS Linux 5.2.0
DRIVE OS Linux 5.1.6
NVIDIA DRIVE™ Software 10.0 (Linux)
NVIDIA DRIVE™ Software 9.0 (Linux)
other DRIVE OS version

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


I have a Drive AGX Xavier setup connected to 3 different can buses [CANA, CANB and CANF]. While I am able get the data on CANB and CANF (Socket CAN) , I am unable to read data in CANA (Aurix) using the ./sample_canbus_logger.

Below is the command and output to read data on CANA (custom.conf file is attached):

/usr/local/driveworks/bin/sample_canbus_logger --driver=can.aurix --params=ip=,config-file=/home/nvidia/custom_repo/config/easy_can/custom.conf,bus=a --filter=""
Program Arguments:

[06-08-2021 19:14:30] Platform: Detected DDPX - Tegra A
[06-08-2021 19:14:30] TimeSource: monotonic epoch time offset is 1628263552705149
[06-08-2021 19:14:30] PTP Time is available from NVPPS Driver
[06-08-2021 19:14:31] Platform: number of GPU devices detected 1
[06-08-2021 19:14:31] Platform: currently selected GPU device integrated ID 0
[06-08-2021 19:14:31] SDK: Resources mounted from /usr/local/driveworks-2.2/data/
[06-08-2021 19:14:31] SDK: Create NvMediaDevice
[06-08-2021 19:14:31] egl::Display: found 1 EGL devices
[06-08-2021 19:14:31] egl::Display: use drm device: drm-nvdc
[06-08-2021 19:14:31] TimeSource: monotonic epoch time offset is 1628263552705149
[06-08-2021 19:14:31] PTP Time is available from NVPPS Driver
[06-08-2021 19:14:31] Initialize DriveWorks SDK v2.2.3136
[06-08-2021 19:14:31] Release build with GNU 7.3.1 from heads/buildbrain-branch-0-gca7b4b26e65 against Drive PDK v5.1.6.1
[06-08-2021 19:14:31] SensorFactory::createSensor() -> can.aurix, ip=,config-file=/home/nvidia/custom_repo/config/easy_can/custom.conf,bus=a
[06-08-2021 19:14:31] EndpointUDP: started

custom.conf (242 Bytes)

All messages coming on my can bus are Extended Frames

Using an external can tool I tried to send a standard CAN frame on CANA and I was able to see the data forwarded (the config file was modified for standard can frames). when I sent an extended frame it had no output, How do I get it working with Extended frames?

Note I went through the easy can setup guide and was able to read data using the demo files provided after configuring the messages correctly (using and This confirms the data is being received by aurix.

Hi @anil-kumar.chavali ,

The extended frame isn’t support in DriveWorks 2.2.