How to use Vector CAN analyzer in Jetson TX2

Robotics & Edge Computing Jetson & Embedded Systems Jetson TX2
2

Hi,

Please refer the below steps.

These are the steps can be followed to enable and check CAN on TX2.

  1. Enable kernel support for mttcan(Other required modules are already supported)
    ​ CONFIG_MTTCAN = m (Here mttcan is compiled as a module)

  2. Insert CAN BUS subsystem support module.
    modprobe can

  3. Insert Raw CAN protocol module (CAN-ID filtering)
    modprobe can_raw

  4. Real CAN interface support (for our case, it is: mttcan)
    modprobe mttcan (dependent module is can_dev: can driver with netlink support)

  5. CAN interface settings for both the controllers
    ip link set can0 type can bitrate 500000 dbitrate 2000000 berr-reporting on fd on
    ip link set up can0
    ip link set can1 type can bitrate 500000 dbitrate 2000000 berr-reporting on fd on
    ip link set up can1

CAN interfaces are up now. Use ifconfig to list all the interfaces which are up.

  1. Installation of user app to check CAN communication
    sudo apt-get install can-utils

  2. Commands to run to check CAN packet send/receive
    broadcasting a can data packet:
    cansend <can_interface> <can_frame>
    e.g. cansend can0 123#abcdabcd

Receiving a can data packet:
candump can_interface
e.g. candump can1

Different tools (i.e. cangen, cangw etc) can be used for various filtering options.

  1. To check the interface statistics
    ip -details -statistics link show can0
    ip -details -statistics link show can1

Thanks & Regards,
Sandipan