How to gather CAN data using external CAN sensor

Autonomous Vehicles DRIVE AGX Orin DRIVE AGX Orin General
1

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Software Version
DRIVE OS 6.0.10.0
DRIVE OS 6.0.8.1
DRIVE OS 6.0.6
DRIVE OS 6.0.5
DRIVE OS 6.0.4 (rev. 1)
DRIVE OS 6.0.4 SDK
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Target Operating System
Linux
QNX
other

Hardware Platform
DRIVE AGX Orin Developer Kit (940-63710-0010-300)
DRIVE AGX Orin Developer Kit (940-63710-0010-200)
DRIVE AGX Orin Developer Kit (940-63710-0010-100)
DRIVE AGX Orin Developer Kit (940-63710-0010-D00)
DRIVE AGX Orin Developer Kit (940-63710-0010-C00)
DRIVE AGX Orin Developer Kit (not sure its number)
other

SDK Manager Version
2.1.0
other

Host Machine Version
native Ubuntu Linux 20.04 Host installed with SDK Manager
native Ubuntu Linux 20.04 Host installed with DRIVE OS Docker Containers
native Ubuntu Linux 18.04 Host installed with DRIVE OS Docker Containers
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Hello Nvidia! I have some questions about the CAN driver documentation.

I want to use the VBOX 3iSL Data Logger with my Orin as it can be used to gather GPS and CAN data. After reading through the steps starting here:

CAN Driver | NVIDIA Docs

How does the following work:

  1. If I want to use an external sensor (ie the VBOX), I assume based on the manual RACELOGIC VBOX 3ISL USER MANUAL Pdf Download | ManualsLib that I would have to use either the H1 or H2 vehicle harnesses to connect the device to the Orin to capture this data. If this assumption is true, would I need the H1, H2, or both harnesses to capture this CAN data? Or could I use one of the other four CAN loopback configurations with this device?

  2. Should I then use the can.socket or can.aurix protocols for the rig files to properly correlate with this VBOX device?

  3. Would I theoretically try something like this if I ended up connecting the VBOX to the Orin via the H1 and/or H2 harnesses after setting up the SocketCAN interface:

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    image1469×307 28.3 KB


4. General question, is there documentation explaining the difference between a SocketCAN and AurixCAN device? I looked at the linux kernel documentation and only saw a bunch of txt and yaml files with devicetree links that I'm not sure how to open properly.


Thank you!

2

Dear @adas_1 ,
Please follow the guidelines at Announcement from NVIDIA: Guidelines to create a new topic when filing a topic. Please file a new topic for each issue or query( if can be seperated in the context).

You can use H1 connector and check using socket can0/can1. Please see
Only can.socket is supported on Orin.
Please see mechanical installation guide to know details of H1 cable break out.

As asked in Q3, you need to bring up can0 interface when testing.

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Got it, sorry about that. That answers all of these questions for now, I’ll let you know if I run into any other issues.

Thank you!

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