Confusion about CAN communication for Jetson AGX Xavier

Robotics & Edge Computing Jetson & Embedded Systems Jetson AGX Xavier
1

Hello There ,

I configured CAN using the following method.

sudo apt-get install busybox

sudo busybox devmem 0x0c303000 32 0x0000C400
sudo busybox devmem 0x0c303008 32 0x0000C458
sudo busybox devmem 0x0c303010 32 0x0000C400
sudo busybox devmem 0x0c303018 32 0x0000C458

sudo modprobe can
sudo modprobe can_raw
sudo modprobe mttcan

sudo ip link set can0 type can bitrate 500000
dbitrate 2000000 berr-reporting on fd on
sudo ip link set can1 type can bitrate 500000
dbitrate 2000000 berr-reporting on fd on

sudo ip link set up can0
sudo ip link set up can1

Using the loopback mode and using socketcan communication can be all successful communication.
However, a few days later. Waveforms could not be detected on CAN_H and CAN_L of the external CAN transceiver suddenly. And the loop mode was also failed in sending.

I tried to flash the machine, but still the same phenomenon. It is only possible to send successfully at the beginning of the boot. And then the waveform of CAN message cannot be detected all the time. And using loop mode also failed to send.

I was wondering what the problem was.
Could this be a hardware problem? Or maybe there’s something wrong with the configuration？

thanks.

2

Hi,
If you do not connect anything on TX and RX of Jetson CAN and try loopback, is it working?

3

Now I do not connect anything on TX and RX of Jetson CAN and try loopback. It works normally.
However, it was not work yesterday in the loopback mode. I’m sure that all settings are the same twice.
I did not know why?

4

what is the failure you are getting?
please share kernel dmesg logs.
are you not receiving any meesages from candump in loopback mode?
also share your steps in loopback mode.

5

thanks for your help.

I configured the loopback mode using the following method

sudo ip link set down can0
sudo ip link set can0 type can bitrate 500000 loopback on
sudo ip link set up can0

I’m using “cansend can0 001#11” on a terminal. And using “candump can0” on another terminal.
Now I can receive the can message. But in the past it has failed to receive can messages.

And I print the system kernel log using “dmesg”. I find some error for can.
This is:
[ 426.666417] mttcan c310000.mttcan can0: Stuff Error Detected
[ 426.666682] mttcan c310000.mttcan can0: IR 0x8010000 PSR 0x711
[ 426.666824] mttcan c310000.mttcan can0: Bit0 Error Detected
[ 426.666989] mttcan c310000.mttcan can0: IR 0x8000000 PSR 0x4715
[ 426.667134] mttcan c310000.mttcan can0: entered error warning state
[ 426.667261] mttcan c310000.mttcan can0: entered error passive state
[ 426.667429] mttcan c310000.mttcan can0: Bit0 Error Detected
[ 426.667554] mttcan c310000.mttcan can0: IR 0x9800001 PSR 0x4775
[ 426.668675] mttcan c310000.mttcan can0: Stuff Error Detected
[ 426.668813] mttcan c310000.mttcan can0: IR 0x8000000 PSR 0x4771
[ 426.955104] mttcan c310000.mttcan can0: Stuff Error Detected
[ 426.955370] mttcan c310000.mttcan can0: IR 0x8000000 PSR 0x4711

and

[ 1139.617696] mttcan c320000.mttcan can1: Acknowledgement Error Detected
[ 1139.617936] mttcan c320000.mttcan can1: IR 0x8000000 PSR 0x71b
[ 1139.618083] mttcan c310000.mttcan can0: Acknowledgement Error Detected
[ 1139.618278] mttcan c310000.mttcan can0: IR 0x8000000 PSR 0x471b
[ 1139.621926] mttcan c320000.mttcan can1: Acknowledgement Error Detected
[ 1139.622167] mttcan c320000.mttcan can1: IR 0x8000000 PSR 0x71b
[ 1139.622308] mttcan c310000.mttcan can0: Acknowledgement Error Detected
[ 1139.622474] mttcan c310000.mttcan can0: IR 0x8000000 PSR 0x471b
[ 1139.622642] mttcan c320000.mttcan can1: entered error warning state
[ 1139.622800] mttcan c320000.mttcan can1: entered error passive state
[ 1139.622965] mttcan c320000.mttcan can1: Acknowledgement Error Detected
[ 1139.623136] mttcan c320000.mttcan can1: IR 0x9800000 PSR 0x77b
[ 1139.623270] mttcan c310000.mttcan can0: entered error warning state
[ 1139.623413] mttcan c310000.mttcan can0: entered error passive state
[ 1144.618862] mttcan_handle_bus_err: 103758 callbacks suppressed
[ 1144.619125] mttcan c310000.mttcan can0: Acknowledgement Error Detected
[ 1144.619294] mttcan c310000.mttcan can0: IR 0x8000000 PSR 0x477b
[ 1144.621488] mttcan c320000.mttcan can1: Acknowledgement Error Detected
[ 1144.621645] mttcan c320000.mttcan can1: IR 0x8000000 PSR 0x77b
[ 1144.621800] mttcan c310000.mttcan can0: Acknowledgement Error Detected
[ 1144.621923] mttcan c310000.mttcan can0: IR 0x8000000 PSR 0x476b
[ 1144.622050] mttcan c320000.mttcan can1: Acknowledgement Error Detected
[ 1144.622181] mttcan c320000.mttcan can1: IR 0x8000000 PSR 0x77b
[ 1144.622308] mttcan c310000.mttcan can0: Acknowledgement Error Detected
[ 1144.622445] mttcan c310000.mttcan can0: IR 0x8000000 PSR 0x477b
[ 1807.255722] mttcan_handle_bus_err: 99678 callbacks suppressed
[ 1807.255933] mttcan c320000.mttcan can1: Acknowledgement Error Detected
[ 1807.256126] mttcan c320000.mttcan can1: IR 0x8010000 PSR 0x71b
[ 1807.256359] mttcan c310000.mttcan can0: Acknowledgement Error Detected
[ 1807.256509] mttcan c310000.mttcan can0: IR 0x8010000 PSR 0x471b
[ 1807.256679] mttcan c320000.mttcan can1: Acknowledgement Error Detected
[ 1807.256808] mttcan c320000.mttcan can1: IR 0x8000000 PSR 0x71b
[ 1807.257480] mttcan c310000.mttcan can0: Acknowledgement Error Detected
[ 1807.257628] mttcan c310000.mttcan can0: IR 0x8000000 PSR 0x471b
[ 1807.257814] mttcan c320000.mttcan can1: Acknowledgement Error Detected
[ 1807.257940] mttcan c320000.mttcan can1: IR 0x8000000 PSR 0x71b
[ 1807.258081] mttcan c310000.mttcan can0: entered error warning state
[ 1807.258228] mttcan c320000.mttcan can1: entered error warning state
[ 1807.258385] mttcan c320000.mttcan can1: entered error passive state
[ 1807.258513] mttcan c310000.mttcan can0: entered error passive state
[ 1934.657541] mttcan_handle_bus_err: 47176 callbacks suppressed
[ 1934.657578] mttcan c320000.mttcan can1: Acknowledgement Error Detected
[ 1934.657900] mttcan c320000.mttcan can1: IR 0x8000000 PSR 0x71b
[ 1934.658047] mttcan c310000.mttcan can0: Acknowledgement Error Detected
[ 1934.658172] mttcan c310000.mttcan can0: IR 0x8000000 PSR 0x471b
[ 1934.658332] mttcan c320000.mttcan can1: Acknowledgement Error Detected
[ 1934.658455] mttcan c320000.mttcan can1: IR 0x8000000 PSR 0x71b
[ 1934.658589] mttcan c310000.mttcan can0: Acknowledgement Error Detected
[ 1934.658767] mttcan c310000.mttcan can0: IR 0x8000000 PSR 0x471b
[ 1934.658904] mttcan c320000.mttcan can1: Acknowledgement Error Detected
[ 1934.659027] mttcan c320000.mttcan can1: IR 0x8000000 PSR 0x71b
[ 1934.659478] mttcan c320000.mttcan can1: entered error warning state
[ 1934.659613] mttcan c310000.mttcan can0: entered error warning state
[ 1934.660194] mttcan c320000.mttcan can1: entered error passive state
[ 1934.663833] mttcan c310000.mttcan can0: entered error passive state
[ 2125.164631] mttcan_handle_bus_err: 80822 callbacks suppressed
[ 2125.164833] mttcan c320000.mttcan can1: Acknowledgement Error Detected
[ 2125.165001] mttcan c320000.mttcan can1: IR 0x8000000 PSR 0x71b
[ 2125.165146] mttcan c310000.mttcan can0: Acknowledgement Error Detected
[ 2125.165275] mttcan c310000.mttcan can0: IR 0x8000000 PSR 0x471b
[ 2125.165532] mttcan c320000.mttcan can1: Acknowledgement Error Detected
[ 2125.165671] mttcan c320000.mttcan can1: IR 0x8000000 PSR 0x71b
[ 2125.165792] mttcan c310000.mttcan can0: Acknowledgement Error Detected
[ 2125.165907] mttcan c310000.mttcan can0: IR 0x8000000 PSR 0x471b
[ 2125.166063] mttcan c320000.mttcan can1: Acknowledgement Error Detected
[ 2125.166232] mttcan c320000.mttcan can1: IR 0x8000000 PSR 0x71b
[ 2125.166525] mttcan c310000.mttcan can0: entered error warning state
[ 2125.166666] mttcan c320000.mttcan can1: entered error warning state
[ 2125.167237] mttcan c310000.mttcan can0: entered error passive state
[ 2125.167425] mttcan c320000.mttcan can1: entered error passive state
[ 2269.410118] mttcan_handle_bus_err: 80508 callbacks suppressed
[ 2269.410335] mttcan c320000.mttcan can1: Acknowledgement Error Detected
[ 2269.410484] mttcan c320000.mttcan can1: IR 0x8000000 PSR 0x71b
[ 2269.411573] mttcan c310000.mttcan can0: Acknowledgement Error Detected
[ 2269.411756] mttcan c310000.mttcan can0: IR 0x8000000 PSR 0x471b
[ 2269.411906] mttcan c320000.mttcan can1: Acknowledgement Error Detected
[ 2269.412039] mttcan c320000.mttcan can1: IR 0x8000000 PSR 0x71b
[ 2269.412243] mttcan c310000.mttcan can0: Acknowledgement Error Detected
[ 2269.412395] mttcan c310000.mttcan can0: IR 0x8000000 PSR 0x471b
[ 2269.412553] mttcan c320000.mttcan can1: entered error warning state
[ 2269.412684] mttcan c320000.mttcan can1: Acknowledgement Error Detected
[ 2269.412809] mttcan c320000.mttcan can1: IR 0x9000000 PSR 0x75b
[ 2269.412967] mttcan c310000.mttcan can0: entered error warning state
[ 2269.413110] mttcan c320000.mttcan can1: entered error passive state
[ 2269.413251] mttcan c310000.mttcan can0: entered error passive state
[ 2492.749309] mttcan_controller_config: ctrlmode 30
[ 2492.749339] mttcan c310000.mttcan can0: Bitrate set
[ 2577.305994] mttcan_handle_bus_err: 80930 callbacks suppressed
[ 2577.306010] mttcan c320000.mttcan can1: Acknowledgement Error Detected
[ 2577.306610] mttcan c320000.mttcan can1: IR 0x8010000 PSR 0x71b
[ 2577.306751] mttcan c310000.mttcan can0: Acknowledgement Error Detected
[ 2577.306881] mttcan c310000.mttcan can0: IR 0x8010000 PSR 0x471b
[ 2577.307037] mttcan c320000.mttcan can1: Acknowledgement Error Detected
[ 2577.307155] mttcan c320000.mttcan can1: IR 0x8000000 PSR 0x71b
[ 2577.307274] mttcan c310000.mttcan can0: Acknowledgement Error Detected
[ 2577.307389] mttcan c310000.mttcan can0: IR 0x8000000 PSR 0x471b
[ 2577.307588] mttcan c320000.mttcan can1: Acknowledgement Error Detected
[ 2577.307717] mttcan c320000.mttcan can1: IR 0x8000000 PSR 0x71b
[ 2577.308053] mttcan c310000.mttcan can0: entered error warning state
[ 2577.308202] mttcan c320000.mttcan can1: entered error warning state
[ 2577.308636] mttcan c320000.mttcan can1: entered error passive state
[ 2577.308761] mttcan c310000.mttcan can0: entered error passive state
[ 2582.307074] mttcan_handle_bus_err: 102760 callbacks suppressed
[ 2582.307304] mttcan c320000.mttcan can1: Acknowledgement Error Detected
[ 2582.307480] mttcan c320000.mttcan can1: IR 0x8000000 PSR 0x77b
[ 2582.307626] mttcan c310000.mttcan can0: Acknowledgement Error Detected
[ 2582.307758] mttcan c310000.mttcan can0: IR 0x8000000 PSR 0x477b
[ 2582.308188] mttcan c320000.mttcan can1: Acknowledgement Error Detected
[ 2582.308322] mttcan c320000.mttcan can1: IR 0x8000000 PSR 0x77b
[ 2582.308466] mttcan c310000.mttcan can0: Acknowledgement Error Detected
[ 2582.308622] mttcan c310000.mttcan can0: IR 0x8000000 PSR 0x477b
[ 2582.308766] mttcan c320000.mttcan can1: Acknowledgement Error Detected
[ 2582.308892] mttcan c320000.mttcan can1: IR 0x8000000 PSR 0x77b
[ 2587.310304] mttcan_handle_bus_err: 102850 callbacks suppressed
[ 2587.310499] mttcan c310000.mttcan can0: Acknowledgement Error Detected
[ 2587.310659] mttcan c310000.mttcan can0: IR 0x8000000 PSR 0x477b
[ 2587.310804] mttcan c320000.mttcan can1: Acknowledgement Error Detected
[ 2587.310957] mttcan c320000.mttcan can1: IR 0x8000000 PSR 0x77b
[ 2587.311088] mttcan c310000.mttcan can0: Acknowledgement Error Detected
[ 2587.311201] mttcan c310000.mttcan can0: IR 0x8000000 PSR 0x477b
[ 2587.311327] mttcan c320000.mttcan can1: Acknowledgement Error Detected
[ 2587.311468] mttcan c320000.mttcan can1: IR 0x8000000 PSR 0x76b
[ 2587.311596] mttcan c310000.mttcan can0: Acknowledgement Error Detected
[ 2587.311712] mttcan c310000.mttcan can0: IR 0x8000000 PSR 0x477b
[ 2592.313739] mttcan_handle_bus_err: 102864 callbacks suppressed
[ 2592.313935] mttcan c320000.mttcan can1: Acknowledgement Error Detected
[ 2592.314076] mttcan c320000.mttcan can1: IR 0x8000000 PSR 0x77b
[ 2592.314335] mttcan c310000.mttcan can0: Acknowledgement Error Detected
[ 2592.314476] mttcan c310000.mttcan can0: IR 0x8000000 PSR 0x477b
[ 2592.314605] mttcan c320000.mttcan can1: Acknowledgement Error Detected
[ 2592.314723] mttcan c320000.mttcan can1: IR 0x8000000 PSR 0x77b
[ 2592.314856] mttcan c310000.mttcan can0: Acknowledgement Error Detected
[ 2592.314970] mttcan c310000.mttcan can0: IR 0x8000000 PSR 0x477b
[ 2592.315092] mttcan c320000.mttcan can1: Acknowledgement Error Detected
[ 2592.315208] mttcan c320000.mttcan can1: IR 0x8000000 PSR 0x77b
[ 2597.317222] mttcan_handle_bus_err: 102864 callbacks suppressed
[ 2597.317505] mttcan c320000.mttcan can1: Acknowledgement Error Detected
[ 2597.317673] mttcan c320000.mttcan can1: IR 0x8000000 PSR 0x77b
[ 2597.319466] mttcan c310000.mttcan can0: Acknowledgement Error Detected
[ 2597.319667] mttcan c310000.mttcan can0: IR 0x8000000 PSR 0x477b
[ 2597.319858] mttcan c320000.mttcan can1: Acknowledgement Error Detected
[ 2597.319999] mttcan c320000.mttcan can1: IR 0x8000000 PSR 0x77b
[ 2597.320154] mttcan c310000.mttcan can0: Acknowledgement Error Detected
[ 2597.320305] mttcan c310000.mttcan can0: IR 0x8000000 PSR 0x477b
[ 2597.320445] mttcan c320000.mttcan can1: Acknowledgement Error Detected
[ 2597.320593] mttcan c320000.mttcan can1: IR 0x8000000 PSR 0x77b
[ 2602.320461] mttcan_handle_bus_err: 102800 callbacks suppressed
[ 2602.320707] mttcan c320000.mttcan can1: Acknowledgement Error Detected
[ 2602.320870] mttcan c320000.mttcan can1: IR 0x8000000 PSR 0x77b
[ 2602.321046] mttcan c310000.mttcan can0: Acknowledgement Error Detected
[ 2602.321175] mttcan c310000.mttcan can0: IR 0x8000000 PSR 0x476b
[ 2602.321310] mttcan c320000.mttcan can1: Acknowledgement Error Detected
[ 2602.321451] mttcan c320000.mttcan can1: IR 0x8000000 PSR 0x77b
[ 2602.321648] mttcan c310000.mttcan can0: Acknowledgement Error Detected
[ 2602.321775] mttcan c310000.mttcan can0: IR 0x8000000 PSR 0x477b
[ 2602.321905] mttcan c320000.mttcan can1: Acknowledgement Error Detected
[ 2602.322040] mttcan c320000.mttcan can1: IR 0x8000000 PSR 0x77b
[ 2607.323921] mttcan_handle_bus_err: 102834 callbacks suppressed
[ 2607.324167] mttcan c320000.mttcan can1: Acknowledgement Error Detected
[ 2607.324357] mttcan c320000.mttcan can1: IR 0x8000000 PSR 0x77b
[ 2607.326820] mttcan c310000.mttcan can0: Acknowledgement Error Detected
[ 2607.327009] mttcan c310000.mttcan can0: IR 0x8000000 PSR 0x477b
[ 2607.327150] mttcan c320000.mttcan can1: Acknowledgement Error Detected
[ 2607.327298] mttcan c320000.mttcan can1: IR 0x8000000 PSR 0x77b
[ 2607.327443] mttcan c310000.mttcan can0: Acknowledgement Error Detected
[ 2607.327592] mttcan c310000.mttcan can0: IR 0x8000000 PSR 0x477b
[ 2607.327720] mttcan c320000.mttcan can1: Acknowledgement Error Detected
[ 2607.327888] mttcan c320000.mttcan can1: IR 0x8000000 PSR 0x77b

7

There is no update from you for a period, assuming this is not an issue any more.
Hence we are closing this topic. If need further support, please open a new one.
Thanks

So is the issue resolved now?