Issue with SPE CAN immplementation

Below is the description of CAN Application (app/can-app.c)

CAN Application (app/can-app.c)

Modify SCR setting in tegra194-mb1-bct-scr-cbb-mini.cfg as follows:

  • scr.378.4 = 0x1a0034ff; # CLK_RST_CONTROLLER_AON_SCR_CAN_0
  • scr.407.4 = 0x1a0034ff; # CLK_RST_CONTROLLER_CAN1_SCR_FMON_0
  • scr.408.4 = 0x1a0034ff; # CLK_RST_CONTROLLER_CAN2_SCR_FMON_0
  • scr.2602.6 = 0x19003232; # AON_NOC_CAN1_BLF_CONTROL_REGISTER_0
  • scr.2603.6 = 0x19003232; # AON_NOC_CAN2_BLF_CONTROL_REGISTER_0

where should I modify the file 194-mb1-bct-scr-cbb-mini.cfg ?

there is the file in the path of source folder:
~/public_sources/Linux_for_Tegra/source/public/kernel_src/hardware/nvidia/platform/t19x/common/bct/scr

and in the release folder:
~/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/bootloader

and
~/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/bootloader/t186ref/BCT

what should I do with the 194-mb1-bct-scr-cbb-mini.cfg in the 3 folders? Modify them all or something else?

And how can I check in the kernel ubuntu system if it is modified as mentioned above?

thanks!

Sorry for the late response, we will look into this issue at next week.

Hi hao.ye,

You can update here: ~/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/bootloader/t186ref/BCT/
and flash the device. It should reflect the updated settings.
Let me know if the problem is not solved.

Thanks,
Shubhi

Hello shgarg,

Thanks for your reply.

My purpose is to use CAN bus module in SPE. My platform is Jetson AGX Xavier.

I did as what you said, but there still some unknown issues.

To make it clear, I want to describe what I did step by step.

step 1: I modified the device tree tegra194-p2888-0001-p2822-0000-common.dtsi in the path ~/public_sources/Linux_for_Tegra/source/public/kernel_src/hardware/nvidia/platform/t19x/galen/kernel-dts/common

mttcan@c310000 {
status = “disabled”;

};
mttcan@c320000 {
status = “disabled”;

};

step 2: I compiled the source and got the output files.

step 3: I replaced the files in the release ~/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/kernel as below:
–> Replace <release_packagep>/Linux_for_Tegra/kernel/Image with a copy of:
$TEGRA_KERNEL_OUT/arch/arm64/boot/Image

–> Replace the contents of Linux_for_Tegra/kernel/dtb/ with the contents of:
$TEGRA_KERNEL_OUT/arch/arm64/boot/dts/

step 4: I modified the SCR setting tegra194-mb1-bct-scr-cbb-mini.cfg in release ~/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/bootloader/t186ref/BCT as below:

scr.378.4 = 0x1a0034ff; # CLK_RST_CONTROLLER_AON_SCR_CAN_0
scr.407.4 = 0x1a0034ff; # CLK_RST_CONTROLLER_CAN1_SCR_FMON_0
scr.408.4 = 0x1a0034ff; # CLK_RST_CONTROLLER_CAN2_SCR_FMON_0
scr.2602.6 = 0x19003232; # AON_NOC_CAN1_BLF_CONTROL_REGISTER_0
scr.2603.6 = 0x19003232; # AON_NOC_CAN2_BLF_CONTROL_REGISTER_0

step 5: I modified the pinmux setting tegra19x-mb1-pinmux-p2888-0000-a04-p2822-0000-b01.cfg in release ~/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/bootloader/t186ref/BCT as below:

pinmux.0x0c303000 = 0x00000400; # can1_dout_paa0: rsvd1, pull-down, tristate-enable, input-enable
pinmux.0x0c303008 = 0x00000458; # can1_din_paa1: rsvd1, pull-down, tristate-enable, input-enable
pinmux.0x0c303010 = 0x00000400; # can0_dout_paa2: rsvd1, pull-up, tristate-enable, input-enable
pinmux.0x0c303018 = 0x00000458; # can0_din_paa3: rsvd1, pull-up, tristate-enable, input-enable

For SPE:
step 6: I enabled the CAN application ~/l4t_rt_aux_cpu_src/l4t-rt/rt-aux-cpu-demo/soc/t19x/target_specific.mk as below:

Enable = 1/Disable = 0 CAN sample app

ENABLE_CAN_APP := 1

step 7: compiled the l4t_rt_aux_cpu_src and got the output files.
there is spe.bin in path ~/l4t_rt_aux_cpu_src/l4t-rt/out

step 8: remove spe.bin and spe_t194.bin in path ~/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/bootloader

step 9: copy spe.bin in ~/l4t_rt_aux_cpu_src/l4t-rt/out to ~/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/bootloader and rename it as spe_t194.bin

step 10: flash the whole board via the command:
sudo ./flash.sh jetson-xavier mmcblk0p1
in the path ~/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra

but finally it failed.

the log information shown as below:

haoye@haoye-Latitude-5300:~/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra$ sudo ./flash.sh jetson-xavier mmcblk0p1
###############################################################################

L4T BSP Information:

R32 , REVISION: 4.3

###############################################################################

Target Board Information:

Name: jetson-xavier, Board Family: t186ref, SoC: Tegra 194,

OpMode: production, Boot Authentication: NS,

###############################################################################
copying soft_fuses(/home/haoye/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/bootloader/t186ref/BCT/tegra194-mb1-soft-fuses-l4t.cfg)… done.
./tegraflash.py --chip 0x19 --applet “/home/haoye/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/bootloader/mb1_t194_prod.bin” --skipuid --soft_fuses tegra194-mb1-soft-fuses-l4t.cfg --bins “mb2_applet nvtboot_applet_t194.bin” --cmd “dump eeprom boardinfo cvm.bin;reboot recovery”
Welcome to Tegra Flash
version 1.0.0
Type ? or help for help and q or quit to exit
Use ! to execute system commands

[ 0.0032 ] Generating RCM messages
[ 0.0040 ] tegrahost_v2 --chip 0x19 0 --magicid MB1B --appendsigheader /home/haoye/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/bootloader/mb1_t194_prod.bin zerosbk
[ 0.0046 ] Header already present for /home/haoye/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/bootloader/mb1_t194_prod.bin
[ 0.0077 ]
[ 0.0083 ] tegrasign_v2 --key None --getmode mode.txt
[ 0.0089 ] Assuming zero filled SBK key
[ 0.0089 ]
[ 0.0096 ] tegrasign_v2 --key None --file /home/haoye/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/bootloader/mb1_t194_prod_sigheader.bin --offset 2960 --length 1136 --pubkeyhash pub_key.key
[ 0.0101 ] Assuming zero filled SBK key
[ 0.0105 ]
[ 0.0111 ] tegrahost_v2 --chip 0x19 0 --updatesigheader /home/haoye/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/bootloader/mb1_t194_prod_sigheader.bin /home/haoye/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/bootloader/mb1_t194_prod_sigheader.hash zerosbk
[ 0.0143 ]
[ 0.0151 ] tegrabct_v2 --chip 0x19 0 --sfuse tegra194-mb1-soft-fuses-l4t.cfg.pdf sfuse.bin
[ 0.0158 ]
[ 0.0165 ] tegrarcm_v2 --listrcm rcm_list.xml --chip 0x19 0 --sfuses sfuse.bin --download rcm /home/haoye/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/bootloader/mb1_t194_prod_sigheader.bin 0 0
[ 0.0172 ] RCM 0 is saved as rcm_0.rcm
[ 0.0200 ] RCM 1 is saved as rcm_1.rcm
[ 0.0200 ] RCM 2 is saved as rcm_2.rcm
[ 0.0200 ] List of rcm files are saved in rcm_list.xml
[ 0.0200 ]
[ 0.0200 ] Signing RCM messages
[ 0.0217 ] tegrasign_v2 --key None --list rcm_list.xml --pubkeyhash pub_key.key --getmontgomeryvalues montgomery.bin
[ 0.0233 ] Assuming zero filled SBK key
[ 0.0239 ]
[ 0.0239 ] Copying signature to RCM mesages
[ 0.0247 ] tegrarcm_v2 --chip 0x19 0 --updatesig rcm_list_signed.xml
[ 0.0258 ]
[ 0.0259 ] Boot Rom communication
[ 0.0265 ] tegrarcm_v2 --chip 0x19 0 --rcm rcm_list_signed.xml --skipuid
[ 0.0271 ] RCM version 0X190001
[ 0.0282 ] Boot Rom communication completed
[ 1.0441 ]
[ 2.0484 ] tegrarcm_v2 --isapplet
[ 2.0510 ] Applet version 01.00.0000
[ 2.0542 ]
[ 2.0568 ] tegrarcm_v2 --ismb2
[ 2.0756 ]
[ 2.0786 ] tegrahost_v2 --chip 0x19 --align nvtboot_applet_t194.bin
[ 2.0819 ]
[ 2.0857 ] tegrahost_v2 --chip 0x19 0 --magicid PLDT --appendsigheader nvtboot_applet_t194.bin zerosbk
[ 2.0885 ] adding BCH for nvtboot_applet_t194.bin
[ 2.1134 ]
[ 2.1178 ] tegrasign_v2 --key None --list nvtboot_applet_t194_sigheader.bin_list.xml --pubkeyhash pub_key.key
[ 2.1204 ] Assuming zero filled SBK key
[ 2.1214 ]
[ 2.1268 ] tegrahost_v2 --chip 0x19 0 --updatesigheader nvtboot_applet_t194_sigheader.bin.encrypt nvtboot_applet_t194_sigheader.bin.hash zerosbk
[ 2.1348 ]
[ 2.1376 ] tegrarcm_v2 --download mb2 nvtboot_applet_t194_sigheader.bin.encrypt
[ 2.1401 ] Applet version 01.00.0000
[ 2.1597 ] Sending mb2
[ 2.1600 ] […] 100%
[ 2.1731 ]
[ 2.1760 ] tegrarcm_v2 --boot recovery
[ 2.1798 ] Applet version 01.00.0000
[ 2.1991 ]
[ 3.2024 ] tegrarcm_v2 --isapplet
[ 3.2068 ]
[ 3.2090 ] tegrarcm_v2 --ismb2
[ 3.2110 ] MB2 Applet version 01.00.0000
[ 3.2282 ]
[ 3.2310 ] tegrarcm_v2 --ismb2
[ 3.2336 ] MB2 Applet version 01.00.0000
[ 3.2762 ]
[ 3.2790 ] Retrieving EEPROM data
[ 3.2793 ] tegrarcm_v2 --oem platformdetails eeprom cvm /home/haoye/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/bootloader/cvm.bin
[ 3.2817 ] MB2 Applet version 01.00.0000
[ 3.3184 ] Saved platform info in /home/haoye/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/bootloader/cvm.bin
[ 3.3534 ]
[ 3.3535 ] Rebooting to recovery mode
[ 3.3558 ] tegrarcm_v2 --ismb2
[ 3.3585 ] MB2 Applet version 01.00.0000
[ 3.3755 ]
[ 3.3756 ] Rebooting to recovery mode
[ 3.3783 ] tegrarcm_v2 --reboot recovery
[ 3.3811 ] MB2 Applet version 01.00.0000
[ 3.4077 ]
Board ID(2888) version(400) sku(0004) revision(L.0)
copying bctfile(/home/haoye/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/bootloader/t186ref/BCT/tegra194-mb1-bct-memcfg-p2888.cfg)… done.
copying bctfile1(/home/haoye/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/bootloader/t186ref/BCT/tegra194-memcfg-sw-override.cfg)… done.
copying uphy_config(/home/haoye/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/bootloader/t186ref/BCT/tegra194-mb1-uphy-lane-p2888-0000-p2822-0000.cfg)… done.
copying device_config(/home/haoye/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/bootloader/t186ref/BCT/tegra19x-mb1-bct-device-sdmmc.cfg)… done.
copying misc_cold_boot_config(/home/haoye/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/bootloader/t186ref/BCT/tegra194-mb1-bct-misc-l4t.cfg)… done.
copying misc_config(/home/haoye/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/bootloader/t186ref/BCT/tegra194-mb1-bct-misc-flash.cfg)… done.
copying pinmux_config(/home/haoye/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/bootloader/t186ref/BCT/tegra19x-mb1-pinmux-p2888-0000-a04-p2822-0000-b01.cfg)… done.
copying gpioint_config(/home/haoye/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/bootloader/t186ref/BCT/tegra194-mb1-bct-gpioint-p2888-0000-p2822-0000.cfg)… done.
copying pmic_config(/home/haoye/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/bootloader/t186ref/BCT/tegra194-mb1-bct-pmic-p2888-0001-a04-E-0-p2822-0000.cfg)… done.
copying pmc_config(/home/haoye/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/bootloader/t186ref/BCT/tegra19x-mb1-padvoltage-p2888-0000-a00-p2822-0000-a00.cfg)… done.
copying prod_config(/home/haoye/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/bootloader/t186ref/BCT/tegra19x-mb1-prod-p2888-0000-p2822-0000.cfg)… done.
copying scr_config(/home/haoye/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/bootloader/t186ref/BCT/tegra194-mb1-bct-scr-cbb-mini.cfg)… done.
copying scr_cold_boot_config(/home/haoye/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/bootloader/t186ref/BCT/tegra194-mb1-bct-scr-cbb-mini.cfg)… done.
copying bootrom_config(/home/haoye/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/bootloader/t186ref/BCT/tegra194-mb1-bct-reset-p2888-0000-p2822-0000.cfg)… done.
copying dev_params(/home/haoye/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/bootloader/t186ref/BCT/tegra194-br-bct-sdmmc.cfg)… done.
Existing bootloader(/home/haoye/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/bootloader/nvtboot_cpu_t194.bin) reused.
copying initrd(/home/haoye/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/bootloader/l4t_initrd.img)… done.
populating kernel to rootfs… done.
Welcome to Tegra Flash
version 1.0.0
Type ? or help for help and q or quit to exit
Use ! to execute system commands

[ 0.0030 ] Generating signature
[ 0.0038 ] tegrasign_v2 --key --getmode mode.txt
[ 0.0045 ] Assuming zero filled SBK key
[ 0.0047 ]
[ 0.0048 ] header_magic: 405614
[ 0.0057 ] tegrahost_v2 --chip 0x19 --align 1_Image
[ 0.0066 ]
[ 0.0075 ] tegrahost_v2 --chip 0x19 0 --magicid DATA --appendsigheader 1_Image zerosbk
[ 0.0084 ] adding BCH for 1_Image
[ 0.6591 ]
[ 0.6600 ] tegrasign_v2 --key --list 1_Image_sigheader_list.xml --pubkeyhash pub_key.key
[ 0.6606 ] Assuming zero filled SBK key
[ 0.6973 ]
[ 0.6989 ] tegrahost_v2 --chip 0x19 0 --updatesigheader 1_Image_sigheader.encrypt 1_Image_sigheader.hash zerosbk
[ 3.0694 ]
[ 3.1014 ] Signed file: /home/haoye/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/bootloader/Image_sigheader.encrypt
Generate header for Image_sigheader.encrypt
Generate 16-byte-size-aligned base file for Image_sigheader.encrypt
Remove temporary file
done.
populating initrd to rootfs… done.
populating /home/haoye/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/kernel/dtb/tegra194-p2888-0001-p2822-0000.dtb to rootfs… done.
Making Boot image… done.
Existing sosfile(/home/haoye/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/bootloader/mb1_t194_prod.bin) reused.
Existing tegraboot(/home/haoye/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/bootloader/nvtboot_t194.bin) reused.
Existing cpu_bootloader(/home/haoye/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/bootloader/nvtboot_cpu_t194.bin) reused.
Existing mb2blfile(/home/haoye/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/bootloader/nvtboot_recovery_t194.bin) reused.
Existing mtspreboot(/home/haoye/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/bootloader/preboot_c10_prod_cr.bin) reused.
Existing mcepreboot(/home/haoye/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/bootloader/mce_c10_prod_cr.bin) reused.
Existing mtsproper(/home/haoye/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/bootloader/mts_c10_prod_cr.bin) reused.
Existing mb1file(/home/haoye/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/bootloader/mb1_t194_prod.bin) reused.
Existing bpffile(/home/haoye/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/bootloader/bpmp_t194.bin) reused.
copying bpfdtbfile(/home/haoye/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/bootloader/t186ref/tegra194-a02-bpmp-p2888-a04.dtb)… done.
Existing scefile(/home/haoye/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/bootloader/camera-rtcpu-sce.img) reused.
Existing camerafw(/home/haoye/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/bootloader/camera-rtcpu-rce.img) reused.
Existing spefile(/home/haoye/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/bootloader/spe_t194.bin) reused.
Existing drameccfile(/home/haoye/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/bootloader/dram-ecc.bin) reused.
Existing badpagefile(/home/haoye/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/bootloader/badpage.bin) reused.
Existing wb0boot(/home/haoye/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/bootloader/warmboot_t194_prod.bin) reused.
Existing tosfile(/home/haoye/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/bootloader/tos-trusty_t194.img) reused.
Existing eksfile(/home/haoye/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/bootloader/eks.img) reused.
copying soft_fuses(/home/haoye/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/bootloader/t186ref/BCT/tegra194-mb1-soft-fuses-l4t.cfg)… done.
copying dtbfile(/home/haoye/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/kernel/dtb/tegra194-p2888-0001-p2822-0000.dtb)… done.
Copying nv_boot_control.conf to rootfs
Welcome to Tegra Flash
version 1.0.0
Type ? or help for help and q or quit to exit
Use ! to execute system commands

[ 0.0029 ] Generating signature
[ 0.0037 ] tegrasign_v2 --key --getmode mode.txt
[ 0.0043 ] Assuming zero filled SBK key
[ 0.0046 ]
[ 0.0046 ] header_magic: d00dfeed
[ 0.0053 ] tegrahost_v2 --chip 0x19 --align 1_tegra194-p2888-0001-p2822-0000.dtb
[ 0.0060 ]
[ 0.0067 ] tegrahost_v2 --chip 0x19 0 --magicid DATA --appendsigheader 1_tegra194-p2888-0001-p2822-0000.dtb zerosbk
[ 0.0073 ] adding BCH for 1_tegra194-p2888-0001-p2822-0000.dtb
[ 0.0130 ]
[ 0.0138 ] tegrasign_v2 --key --list 1_tegra194-p2888-0001-p2822-0000_sigheader.dtb_list.xml --pubkeyhash pub_key.key
[ 0.0144 ] Assuming zero filled SBK key
[ 0.0147 ]
[ 0.0160 ] tegrahost_v2 --chip 0x19 0 --updatesigheader 1_tegra194-p2888-0001-p2822-0000_sigheader.dtb.encrypt 1_tegra194-p2888-0001-p2822-0000_sigheader.dtb.hash zerosbk
[ 0.0195 ]
[ 0.0198 ] Signed file: /home/haoye/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/bootloader/tegra194-p2888-0001-p2822-0000_sigheader.dtb.encrypt
Generate header for tegra194-p2888-0001-p2822-0000_sigheader.dtb.encrypt
Generate 16-byte-size-aligned base file for tegra194-p2888-0001-p2822-0000_sigheader.dtb.encrypt
Remove temporary file
done.
Making system.img…
populating rootfs from /home/haoye/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/rootfs … done.
populating /boot/extlinux/extlinux.conf … done.
Sync’ing system.img … done.
Converting RAW image to Sparse image… done.
system.img built successfully.
Existing tbcfile(/home/haoye/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/bootloader/cboot_t194.bin) reused.
copying tbcdtbfile(/home/haoye/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/kernel/dtb/tegra194-p2888-0001-p2822-0000.dtb)… done.
copying cfgfile(/home/haoye/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/bootloader/t186ref/cfg/flash_t194_sdmmc.xml) to flash.xml… done.
Existing flasher(/home/haoye/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/bootloader/nvtboot_recovery_cpu_t194.bin) reused.
Existing flashapp(/home/haoye/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/bootloader/tegraflash.py) reused.
./tegraflash.py --bl nvtboot_recovery_cpu_t194.bin --sdram_config tegra194-mb1-bct-memcfg-p2888.cfg,tegra194-memcfg-sw-override.cfg --odmdata 0x9190000 --applet mb1_t194_prod.bin --cmd “flash; reboot” --soft_fuses tegra194-mb1-soft-fuses-l4t.cfg --cfg flash.xml --chip 0x19 --uphy_config tegra194-mb1-uphy-lane-p2888-0000-p2822-0000.cfg --device_config tegra19x-mb1-bct-device-sdmmc.cfg --misc_cold_boot_config tegra194-mb1-bct-misc-l4t.cfg --misc_config tegra194-mb1-bct-misc-flash.cfg --pinmux_config tegra19x-mb1-pinmux-p2888-0000-a04-p2822-0000-b01.cfg --gpioint_config tegra194-mb1-bct-gpioint-p2888-0000-p2822-0000.cfg --pmic_config tegra194-mb1-bct-pmic-p2888-0001-a04-E-0-p2822-0000.cfg --pmc_config tegra19x-mb1-padvoltage-p2888-0000-a00-p2822-0000-a00.cfg --prod_config tegra19x-mb1-prod-p2888-0000-p2822-0000.cfg --scr_config tegra194-mb1-bct-scr-cbb-mini.cfg --scr_cold_boot_config tegra194-mb1-bct-scr-cbb-mini.cfg --br_cmd_config tegra194-mb1-bct-reset-p2888-0000-p2822-0000.cfg --dev_params tegra194-br-bct-sdmmc.cfg --bin “mb2_bootloader nvtboot_recovery_t194.bin; mts_preboot preboot_c10_prod_cr.bin; mts_mce mce_c10_prod_cr.bin; mts_proper mts_c10_prod_cr.bin; bpmp_fw bpmp_t194.bin; bpmp_fw_dtb tegra194-a02-bpmp-p2888-a04.dtb; spe_fw spe_t194.bin; tlk tos-trusty_t194.img; eks eks.img; bootloader_dtb tegra194-p2888-0001-p2822-0000.dtb”
saving flash command in /home/haoye/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/bootloader/flashcmd.txt
saving Windows flash command to /home/haoye/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/bootloader/flash_win.bat
*** Flashing target device started. ***
Welcome to Tegra Flash
version 1.0.0
Type ? or help for help and q or quit to exit
Use ! to execute system commands

[ 0.0024 ] tegrasign_v2 --key None --getmode mode.txt
[ 0.0031 ] Assuming zero filled SBK key
[ 0.0087 ]
[ 0.0088 ] Generating RCM messages
[ 0.0136 ] tegrahost_v2 --chip 0x19 0 --magicid MB1B --appendsigheader mb1_t194_prod.bin zerosbk
[ 0.0146 ] Header already present for mb1_t194_prod.bin
[ 0.0231 ]
[ 0.0239 ] tegrasign_v2 --key None --getmode mode.txt
[ 0.0246 ] Assuming zero filled SBK key
[ 0.0252 ]
[ 0.0260 ] tegrasign_v2 --key None --file mb1_t194_prod_sigheader.bin --offset 2960 --length 1136 --pubkeyhash pub_key.key
[ 0.0267 ] Assuming zero filled SBK key
[ 0.0281 ]
[ 0.0289 ] tegrahost_v2 --chip 0x19 0 --updatesigheader mb1_t194_prod_sigheader.bin mb1_t194_prod_sigheader.hash zerosbk
[ 0.0339 ]
[ 0.0367 ] tegrabct_v2 --chip 0x19 0 --sfuse tegra194-mb1-soft-fuses-l4t.cfg sfuse.bin
[ 0.0459 ]
[ 0.0489 ] tegrarcm_v2 --listrcm rcm_list.xml --chip 0x19 0 --sfuses sfuse.bin --download rcm mb1_t194_prod_sigheader.bin 0 0
[ 0.0497 ] RCM 0 is saved as rcm_0.rcm
[ 0.0538 ] RCM 1 is saved as rcm_1.rcm
[ 0.0538 ] RCM 2 is saved as rcm_2.rcm
[ 0.0538 ] List of rcm files are saved in rcm_list.xml
[ 0.0538 ]
[ 0.0539 ] Signing RCM messages
[ 0.0546 ] tegrasign_v2 --key None --list rcm_list.xml --pubkeyhash pub_key.key --getmontgomeryvalues montgomery.bin
[ 0.0554 ] Assuming zero filled SBK key
[ 0.0559 ]
[ 0.0559 ] Copying signature to RCM mesages
[ 0.0567 ] tegrarcm_v2 --chip 0x19 0 --updatesig rcm_list_signed.xml
[ 0.0582 ]
[ 0.0583 ] Parsing partition layout
[ 0.0673 ] tegraparser_v2 --pt flash.xml.tmp
[ 0.0740 ]
[ 0.0742 ] Creating list of images to be signed
[ 0.0772 ] tegrahost_v2 --chip 0x19 0 --partitionlayout flash.xml.bin --list images_list.xml zerosbk
[ 0.0798 ] MB1: Nvheader already present is mb1_t194_prod.bin
[ 0.0820 ] Header already present for mb1_t194_prod_sigheader.bin
[ 0.0864 ] MB1: Nvheader already present is mb1_t194_prod.bin
[ 0.0985 ] Header already present for mb1_t194_prod_sigheader.bin
[ 0.0995 ] adding BCH for spe_t194.bin
[ 0.1078 ] adding BCH for spe_t194.bin
[ 0.1124 ] adding BCH for nvtboot_t194.bin
[ 0.1201 ] adding BCH for nvtboot_t194.bin
[ 0.1242 ] Header already present for preboot_c10_prod_cr.bin
[ 0.1308 ] Header already present for preboot_c10_prod_cr.bin
[ 0.1310 ] Header already present for mce_c10_prod_cr.bin
[ 0.1373 ] Header already present for mce_c10_prod_cr.bin
[ 0.1392 ] adding BCH for mts_c10_prod_cr.bin
[ 0.1652 ] adding BCH for mts_c10_prod_cr.bin
[ 0.2340 ] adding BCH for cboot_t194.bin
[ 0.3041 ] adding BCH for cboot_t194.bin
[ 0.3122 ] adding BCH for tegra194-p2888-0001-p2822-0000.dtb
[ 0.3211 ] adding BCH for tegra194-p2888-0001-p2822-0000.dtb
[ 0.3262 ] adding BCH for tos-trusty_t194.img
[ 0.3342 ] adding BCH for tos-trusty_t194.img
[ 0.3416 ] adding BCH for eks.img
[ 0.3495 ] adding BCH for eks.img
[ 0.3496 ] adding BCH for bpmp_t194.bin
[ 0.3542 ] adding BCH for bpmp_t194.bin
[ 0.3718 ] adding BCH for tegra194-a02-bpmp-p2888-a04.dtb
[ 0.3940 ] adding BCH for tegra194-a02-bpmp-p2888-a04.dtb
[ 0.4085 ] adding BCH for camera-rtcpu-rce.img
[ 0.4261 ] adding BCH for camera-rtcpu-rce.img
[ 0.4312 ] adding BCH for adsp-fw.bin
[ 0.5504 ] adding BCH for adsp-fw.bin
[ 0.5598 ] Header already present for warmboot_t194_prod.bin
[ 0.7961 ] Header already present for warmboot_t194_prod.bin
[ 0.7991 ] adding BCH for boot.img
[ 0.9138 ] adding BCH for boot.img
[ 1.6618 ] adding BCH for tegra194-p2888-0001-p2822-0000.dtb
[ 2.5051 ] adding BCH for tegra194-p2888-0001-p2822-0000.dtb
[ 2.5313 ]
[ 2.5314 ] Filling MB1 storage info
[ 2.5314 ] Generating br-bct
[ 2.5322 ] Performing cfg overlay
[ 2.5322 ] [‘tegra194-mb1-bct-memcfg-p2888.cfg’, ‘tegra194-memcfg-sw-override.cfg’]
[ 2.5330 ] sw_memcfg_overlay.pl -c tegra194-mb1-bct-memcfg-p2888.cfg -s tegra194-memcfg-sw-override.cfg -o /home/haoye/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/bootloader/6304/tmpjb9Rp21.cfg
[ 2.6774 ]
[ 2.6775 ] Updating dev and MSS params in BR BCT
[ 2.6776 ] tegrabct_v2 --dev_param tegra194-br-bct-sdmmc.cfg --sdram /home/haoye/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/bootloader/6304/tmpjb9Rp21.cfg --brbct br_bct.cfg --sfuse tegra194-mb1-soft-fuses-l4t.cfg --chip 0x19 0
[ 2.7211 ]
[ 2.7212 ] Updating bl info
[ 2.7225 ] tegrabct_v2 --brbct br_bct_BR.bct --chip 0x19 0 --updateblinfo flash.xml.bin
[ 2.7241 ]
[ 2.7242 ] Generating signatures
[ 2.7248 ] tegrasign_v2 --key None --list images_list.xml --pubkeyhash pub_key.key
[ 2.7254 ] Assuming zero filled SBK key
[ 2.8567 ]
[ 2.8567 ] Generating br-bct
[ 2.8575 ] Performing cfg overlay
[ 2.8575 ] [’/home/haoye/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/bootloader/6304/tmpjb9Rp21.cfg’]
[ 2.8575 ] Updating dev and MSS params in BR BCT
[ 2.8575 ] tegrabct_v2 --dev_param tegra194-br-bct-sdmmc.cfg --sdram /home/haoye/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/bootloader/6304/tmpjb9Rp21.cfg --brbct br_bct.cfg --sfuse tegra194-mb1-soft-fuses-l4t.cfg --chip 0x19 0
[ 2.9020 ]
[ 2.9021 ] Updating bl info
[ 2.9028 ] tegrabct_v2 --brbct br_bct_BR.bct --chip 0x19 0 --updateblinfo flash.xml.bin --updatesig images_list_signed.xml
[ 2.9047 ]
[ 2.9047 ] Updating smd info
[ 2.9053 ] tegrabct_v2 --brbct br_bct_BR.bct --chip 0x19 --updatesmdinfo flash.xml.bin
[ 2.9061 ]
[ 2.9061 ] Updating Odmdata
[ 2.9067 ] tegrabct_v2 --brbct br_bct_BR.bct --chip 0x19 0 --updatefields Odmdata =0x9190000
[ 2.9075 ]
[ 2.9075 ] Get Signed section of bct
[ 2.9081 ] tegrabct_v2 --brbct br_bct_BR.bct --chip 0x19 0 --listbct bct_list.xml
[ 2.9088 ]
[ 2.9095 ] tegrasign_v2 --key None --list bct_list.xml --pubkeyhash pub_key.key --getmontgomeryvalues montgomery.bin
[ 2.9100 ] Assuming zero filled SBK key
[ 2.9103 ]
[ 2.9104 ] Updating BCT with signature
[ 2.9109 ] tegrabct_v2 --brbct br_bct_BR.bct --chip 0x19 0 --updatesig bct_list_signed.xml
[ 2.9117 ]
[ 2.9117 ] Generating coldboot mb1-bct
[ 2.9131 ] tegrabct_v2 --chip 0x19 0 --mb1bct mb1_cold_boot_bct.cfg --sdram /home/haoye/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/bootloader/6304/tmpjb9Rp21.cfg --misc tegra194-mb1-bct-misc-l4t.cfg --scr tegra194-mb1-bct-scr-cbb-mini.cfg --pinmux tegra19x-mb1-pinmux-p2888-0000-a04-p2822-0000-b01.cfg --pmc tegra19x-mb1-padvoltage-p2888-0000-a00-p2822-0000-a00.cfg --pmic tegra194-mb1-bct-pmic-p2888-0001-a04-E-0-p2822-0000.cfg --brcommand tegra194-mb1-bct-reset-p2888-0000-p2822-0000.cfg --prod tegra19x-mb1-prod-p2888-0000-p2822-0000.cfg --gpioint tegra194-mb1-bct-gpioint-p2888-0000-p2822-0000.cfg --uphy tegra194-mb1-uphy-lane-p2888-0000-p2822-0000.cfg --device tegra19x-mb1-bct-device-sdmmc.cfg
[ 2.9138 ] MB1-BCT version: 0x1

[ 2.9140 ] Parsing config file :tegra19x-mb1-pinmux-p2888-0000-a04-p2822-0000-b01.cfg
[ 2.9143 ] Added Platform Config 0 data with size :- 3008

[ 2.9159 ] Parsing config file :tegra194-mb1-bct-scr-cbb-mini.cfg
[ 2.9163 ] Added Platform Config 1 data with size :- 19640

[ 2.9266 ] Parsing config file :tegra19x-mb1-padvoltage-p2888-0000-a00-p2822-0000-a00.cfg
[ 2.9271 ] Added Platform Config 2 data with size :- 24

[ 2.9274 ] Parsing config file :tegra194-mb1-bct-pmic-p2888-0001-a04-E-0-p2822-0000.cfg
[ 2.9279 ] Added Platform Config 4 data with size :- 348

[ 2.9281 ] Parsing config file :tegra194-mb1-bct-reset-p2888-0000-p2822-0000.cfg
[ 2.9286 ] Added Platform Config 3 data with size :- 92

[ 2.9288 ] Parsing config file :tegra19x-mb1-prod-p2888-0000-p2822-0000.cfg
[ 2.9290 ] Added Platform Config 5 data with size :- 56
[ 2.9290 ]
[ 2.9290 ] Parsing config file :tegra194-mb1-bct-gpioint-p2888-0000-p2822-0000.cfg
[ 2.9290 ] Added Platform Config 7 data with size :- 392
[ 2.9290 ]
[ 2.9290 ] Parsing config file :tegra194-mb1-uphy-lane-p2888-0000-p2822-0000.cfg
[ 2.9290 ] Added Platform Config 8 data with size :- 12
[ 2.9291 ]
[ 2.9291 ] Parsing config file :tegra19x-mb1-bct-device-sdmmc.cfg
[ 2.9291 ] Added Platform Config 9 data with size :- 32
[ 2.9291 ]
[ 2.9291 ] Updating mb1-bct with firmware information
[ 2.9298 ] tegrabct_v2 --chip 0x19 --mb1bct mb1_cold_boot_bct_MB1.bct --updatefwinfo flash.xml.bin
[ 2.9303 ] MB1-BCT version: 0x1
[ 2.9306 ]
[ 2.9306 ] Updating mb1-bct with storage information
[ 2.9312 ] tegrabct_v2 --chip 0x19 --mb1bct mb1_cold_boot_bct_MB1.bct --updatestorageinfo flash.xml.bin
[ 2.9317 ] MB1-BCT version: 0x1
[ 2.9320 ]
[ 2.9326 ] tegrahost_v2 --chip 0x19 --align mb1_cold_boot_bct_MB1.bct
[ 2.9331 ]
[ 2.9338 ] tegrahost_v2 --chip 0x19 0 --magicid MBCT --appendsigheader mb1_cold_boot_bct_MB1.bct zerosbk
[ 2.9344 ] adding BCH for mb1_cold_boot_bct_MB1.bct
[ 2.9351 ]
[ 2.9358 ] tegrasign_v2 --key None --list mb1_cold_boot_bct_MB1_sigheader.bct_list.xml --pubkeyhash pub_key.key
[ 2.9364 ] Assuming zero filled SBK key
[ 2.9366 ]
[ 2.9375 ] tegrahost_v2 --chip 0x19 0 --updatesigheader mb1_cold_boot_bct_MB1_sigheader.bct.encrypt mb1_cold_boot_bct_MB1_sigheader.bct.hash zerosbk
[ 2.9385 ]
[ 2.9386 ] Generating recovery mb1-bct
[ 2.9392 ] tegrabct_v2 --chip 0x19 0 --mb1bct mb1_bct.cfg --sdram /home/haoye/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/bootloader/6304/tmpjb9Rp21.cfg --misc tegra194-mb1-bct-misc-flash.cfg --scr tegra194-mb1-bct-scr-cbb-mini.cfg --pinmux tegra19x-mb1-pinmux-p2888-0000-a04-p2822-0000-b01.cfg --pmc tegra19x-mb1-padvoltage-p2888-0000-a00-p2822-0000-a00.cfg --pmic tegra194-mb1-bct-pmic-p2888-0001-a04-E-0-p2822-0000.cfg --brcommand tegra194-mb1-bct-reset-p2888-0000-p2822-0000.cfg --prod tegra19x-mb1-prod-p2888-0000-p2822-0000.cfg --gpioint tegra194-mb1-bct-gpioint-p2888-0000-p2822-0000.cfg --uphy tegra194-mb1-uphy-lane-p2888-0000-p2822-0000.cfg --device tegra19x-mb1-bct-device-sdmmc.cfg
[ 2.9399 ] MB1-BCT version: 0x1

[ 2.9401 ] Parsing config file :tegra19x-mb1-pinmux-p2888-0000-a04-p2822-0000-b01.cfg
[ 2.9404 ] Added Platform Config 0 data with size :- 3008

[ 2.9414 ] Parsing config file :tegra194-mb1-bct-scr-cbb-mini.cfg
[ 2.9416 ] Added Platform Config 1 data with size :- 19640

[ 2.9516 ] Parsing config file :tegra19x-mb1-padvoltage-p2888-0000-a00-p2822-0000-a00.cfg
[ 2.9520 ] Added Platform Config 2 data with size :- 24

[ 2.9522 ] Parsing config file :tegra194-mb1-bct-pmic-p2888-0001-a04-E-0-p2822-0000.cfg
[ 2.9526 ] Added Platform Config 4 data with size :- 348
[ 2.9526 ]
[ 2.9526 ] Parsing config file :tegra194-mb1-bct-reset-p2888-0000-p2822-0000.cfg
[ 2.9526 ] Added Platform Config 3 data with size :- 92
[ 2.9526 ]
[ 2.9526 ] Parsing config file :tegra19x-mb1-prod-p2888-0000-p2822-0000.cfg
[ 2.9526 ] Added Platform Config 5 data with size :- 56
[ 2.9526 ]
[ 2.9526 ] Parsing config file :tegra194-mb1-bct-gpioint-p2888-0000-p2822-0000.cfg
[ 2.9527 ] Added Platform Config 7 data with size :- 392
[ 2.9527 ]
[ 2.9527 ] Parsing config file :tegra194-mb1-uphy-lane-p2888-0000-p2822-0000.cfg
[ 2.9527 ] Added Platform Config 8 data with size :- 12
[ 2.9527 ]
[ 2.9527 ] Parsing config file :tegra19x-mb1-bct-device-sdmmc.cfg
[ 2.9527 ] Added Platform Config 9 data with size :- 32
[ 2.9527 ]
[ 2.9527 ] Updating mb1-bct with firmware information
[ 2.9535 ] tegrabct_v2 --chip 0x19 --mb1bct mb1_bct_MB1.bct --updatefwinfo flash.xml.bin
[ 2.9541 ] MB1-BCT version: 0x1
[ 2.9545 ]
[ 2.9545 ] Updating mb1-bct with storage information
[ 2.9552 ] tegrabct_v2 --chip 0x19 --mb1bct mb1_bct_MB1.bct --updatestorageinfo flash.xml.bin
[ 2.9565 ] MB1-BCT version: 0x1
[ 2.9570 ]
[ 2.9578 ] tegrahost_v2 --chip 0x19 --align mb1_bct_MB1.bct
[ 2.9584 ]
[ 2.9591 ] tegrahost_v2 --chip 0x19 0 --magicid MBCT --appendsigheader mb1_bct_MB1.bct zerosbk
[ 2.9596 ] adding BCH for mb1_bct_MB1.bct
[ 2.9603 ]
[ 2.9610 ] tegrasign_v2 --key None --list mb1_bct_MB1_sigheader.bct_list.xml --pubkeyhash pub_key.key
[ 2.9615 ] Assuming zero filled SBK key
[ 2.9618 ]
[ 2.9626 ] tegrahost_v2 --chip 0x19 0 --updatesigheader mb1_bct_MB1_sigheader.bct.encrypt mb1_bct_MB1_sigheader.bct.hash zerosbk
[ 2.9635 ]
[ 2.9635 ] Generating coldboot mem-bct
[ 2.9641 ] tegrabct_v2 --chip 0x19 0 --sdram /home/haoye/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/bootloader/6304/tmpjb9Rp21.cfg --membct /home/haoye/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/bootloader/6304/tmpjb9Rp21_1.bct /home/haoye/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/bootloader/6304/tmpjb9Rp21_2.bct /home/haoye/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/bootloader/6304/tmpjb9Rp21_3.bct /home/haoye/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/bootloader/6304/tmpjb9Rp21_4.bct
[ 2.9646 ] Packing sdram param for instance[0]
[ 3.0078 ] Packing sdram param for instance[1]
[ 3.0080 ] Packing sdram param for instance[2]
[ 3.0081 ] Packing sdram param for instance[3]
[ 3.0081 ] Packing sdram param for instance[4]
[ 3.0081 ] Packing sdram param for instance[5]
[ 3.0081 ] Packing sdram param for instance[6]
[ 3.0081 ] Packing sdram param for instance[7]
[ 3.0081 ] Packing sdram param for instance[8]
[ 3.0081 ] Packing sdram param for instance[9]
[ 3.0081 ] Packing sdram param for instance[10]
[ 3.0081 ] Packing sdram param for instance[11]
[ 3.0081 ] Packing sdram param for instance[12]
[ 3.0081 ] Packing sdram param for instance[13]
[ 3.0081 ] Packing sdram param for instance[14]
[ 3.0081 ] Packing sdram param for instance[15]
[ 3.0081 ]
[ 3.0082 ] Getting sector size from pt
[ 3.0089 ] tegraparser_v2 --getsectorsize flash.xml.bin sector_info.bin
[ 3.0095 ]
[ 3.0096 ] BlockSize read from layout is 200

[ 3.0102 ] tegrahost_v2 --chip 0x19 0 --blocksize 512 --magicid MEMB --addsigheader_multi /home/haoye/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/bootloader/6304/tmpjb9Rp21_1.bct /home/haoye/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/bootloader/6304/tmpjb9Rp21_2.bct /home/haoye/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/bootloader/6304/tmpjb9Rp21_3.bct /home/haoye/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/bootloader/6304/tmpjb9Rp21_4.bct
[ 3.0107 ] adding BCH for /home/haoye/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/bootloader/6304/tmpjb9Rp21_1.bct
[ 3.0127 ]
[ 3.0133 ] tegrahost_v2 --chip 0x19 --align mem_coldboot.bct
[ 3.0140 ]
[ 3.0146 ] tegrahost_v2 --chip 0x19 0 --magicid MEMB --appendsigheader mem_coldboot.bct zerosbk
[ 3.0152 ] Header already present for mem_coldboot.bct
[ 3.0154 ]
[ 3.0162 ] tegrasign_v2 --key None --list mem_coldboot_sigheader.bct_list.xml --pubkeyhash pub_key.key
[ 3.0169 ] Assuming zero filled SBK key
[ 3.0172 ]
[ 3.0181 ] tegrahost_v2 --chip 0x19 0 --updatesigheader mem_coldboot_sigheader.bct.encrypt mem_coldboot_sigheader.bct.hash zerosbk
[ 3.0190 ]
[ 3.0191 ] Generating recovery mem-bct
[ 3.0198 ] tegrabct_v2 --chip 0x19 0 --sdram /home/haoye/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/bootloader/6304/tmpjb9Rp21.cfg --membct /home/haoye/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/bootloader/6304/tmpjb9Rp21_1.bct /home/haoye/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/bootloader/6304/tmpjb9Rp21_2.bct /home/haoye/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/bootloader/6304/tmpjb9Rp21_3.bct /home/haoye/nvidia/nvidia_sdk/JetPack_4.4_Linux_JETSON_AGX_XAVIER/Linux_for_Tegra/bootloader/6304/tmpjb9Rp21_4.bct
[ 3.0204 ] Packing sdram param for instance[0]
[ 3.0628 ] Packing sdram param for instance[1]
[ 3.0630 ] Packing sdram param for instance[2]
[ 3.0632 ] Packing sdram param for instance[3]
[ 3.0635 ] Packing sdram param for instance[4]
[ 3.0635 ] Packing sdram param for instance[5]
[ 3.0635 ] Packing sdram param for instance[6]
[ 3.0635 ] Packing sdram param for instance[7]
[ 3.0635 ] Packing sdram param for instance[8]
[ 3.0635 ] Packing sdram param for instance[9]
[ 3.0635 ] Packing sdram param for instance[10]
[ 3.0635 ] Packing sdram param for instance[11]
[ 3.0635 ] Packing sdram param for instance[12]
[ 3.0635 ] Packing sdram param for instance[13]
[ 3.0635 ] Packing sdram param for instance[14]
[ 3.0635 ] Packing sdram param for instance[15]
[ 3.0635 ]
[ 3.0646 ] tegrahost_v2 --chip 0x19 --align mem_rcm.bct
[ 3.0653 ]
[ 3.0659 ] tegrahost_v2 --chip 0x19 0 --magicid MEMB --appendsigheader mem_rcm.bct zerosbk
[ 3.0665 ] adding BCH for mem_rcm.bct
[ 3.0677 ]
[ 3.0687 ] tegrasign_v2 --key None --list mem_rcm_sigheader.bct_list.xml --pubkeyhash pub_key.key
[ 3.0694 ] Assuming zero filled SBK key
[ 3.0698 ]
[ 3.0712 ] tegrahost_v2 --chip 0x19 0 --updatesigheader mem_rcm_sigheader.bct.encrypt mem_rcm_sigheader.bct.hash zerosbk
[ 3.0737 ]
[ 3.0738 ] Copying signatures
[ 3.0748 ] tegrahost_v2 --chip 0x19 0 --partitionlayout flash.xml.bin --updatesig images_list_signed.xml
[ 6.1183 ]
[ 6.1183 ] Boot Rom communication
[ 6.1190 ] tegrarcm_v2 --chip 0x19 0 --rcm rcm_list_signed.xml
[ 6.1197 ] BR_CID: 0x8802191164705706240000000c028100
[ 6.1204 ] RCM version 0X190001
[ 6.1385 ] Boot Rom communication completed
[ 7.1562 ]
[ 8.1603 ] tegrarcm_v2 --isapplet
[ 8.1626 ] Applet version 01.00.0000
[ 8.1655 ]
[ 8.1656 ] Sending BCTs
[ 8.1680 ] tegrarcm_v2 --download bct_bootrom br_bct_BR.bct --download bct_mb1 mb1_bct_MB1_sigheader.bct.encrypt --download bct_mem mem_rcm_sigheader.bct.encrypt
[ 8.1703 ] Applet version 01.00.0000
[ 8.1891 ] Sending bct_bootrom
[ 8.1898 ] […] 100%
[ 8.1913 ] Sending bct_mb1
[ 8.1948 ] […] 100%
[ 8.1989 ] Sending bct_mem
[ 8.2444 ] […] 100%
[ 8.3270 ]
[ 8.3271 ] Generating blob
[ 8.3303 ] tegrahost_v2 --chip 0x19 --align blob_nvtboot_recovery_cpu_t194.bin
[ 8.3327 ]
[ 8.3352 ] tegrahost_v2 --chip 0x19 0 --magicid CPBL --appendsigheader blob_nvtboot_recovery_cpu_t194.bin zerosbk
[ 8.3377 ] adding BCH for blob_nvtboot_recovery_cpu_t194.bin
[ 8.3584 ]
[ 8.3618 ] tegrasign_v2 --key None --list blob_nvtboot_recovery_cpu_t194_sigheader.bin_list.xml --pubkeyhash pub_key.key
[ 8.3648 ] Assuming zero filled SBK key
[ 8.3662 ]
[ 8.3687 ] tegrahost_v2 --chip 0x19 0 --updatesigheader blob_nvtboot_recovery_cpu_t194_sigheader.bin.encrypt blob_nvtboot_recovery_cpu_t194_sigheader.bin.hash zerosbk
[ 8.3762 ]
[ 8.3776 ] tegrahost_v2 --chip 0x19 --align blob_nvtboot_recovery_t194.bin
[ 8.3786 ]
[ 8.3796 ] tegrahost_v2 --chip 0x19 0 --magicid MB2B --appendsigheader blob_nvtboot_recovery_t194.bin zerosbk
[ 8.3806 ] adding BCH for blob_nvtboot_recovery_t194.bin
[ 8.3848 ]
[ 8.3859 ] tegrasign_v2 --key None --list blob_nvtboot_recovery_t194_sigheader.bin_list.xml --pubkeyhash pub_key.key
[ 8.3867 ] Assuming zero filled SBK key
[ 8.3870 ]
[ 8.3883 ] tegrahost_v2 --chip 0x19 0 --updatesigheader blob_nvtboot_recovery_t194_sigheader.bin.encrypt blob_nvtboot_recovery_t194_sigheader.bin.hash zerosbk
[ 8.3909 ]
[ 8.3919 ] tegrahost_v2 --chip 0x19 --align blob_preboot_c10_prod_cr.bin
[ 8.3929 ]
[ 8.3941 ] tegrahost_v2 --chip 0x19 0 --magicid MTSP --appendsigheader blob_preboot_c10_prod_cr.bin zerosbk
[ 8.3949 ] Header already present for blob_preboot_c10_prod_cr.bin
[ 8.3952 ]
[ 8.3960 ] tegrasign_v2 --key None --list blob_preboot_c10_prod_cr_sigheader.bin_list.xml --pubkeyhash pub_key.key
[ 8.3966 ] Assuming zero filled SBK key
[ 8.3968 ]
[ 8.3978 ] tegrahost_v2 --chip 0x19 0 --updatesigheader blob_preboot_c10_prod_cr_sigheader.bin.encrypt blob_preboot_c10_prod_cr_sigheader.bin.hash zerosbk
[ 8.3988 ]
[ 8.3995 ] tegrahost_v2 --chip 0x19 --align blob_mce_c10_prod_cr.bin
[ 8.4002 ]
[ 8.4009 ] tegrahost_v2 --chip 0x19 0 --magicid MTSM --appendsigheader blob_mce_c10_prod_cr.bin zerosbk
[ 8.4015 ] Header already present for blob_mce_c10_prod_cr.bin
[ 8.4031 ]
[ 8.4039 ] tegrasign_v2 --key None --list blob_mce_c10_prod_cr_sigheader.bin_list.xml --pubkeyhash pub_key.key
[ 8.4046 ] Assuming zero filled SBK key
[ 8.4051 ]
[ 8.4065 ] tegrahost_v2 --chip 0x19 0 --updatesigheader blob_mce_c10_prod_cr_sigheader.bin.encrypt blob_mce_c10_prod_cr_sigheader.bin.hash zerosbk
[ 8.4089 ]
[ 8.4097 ] tegrahost_v2 --chip 0x19 --align blob_mts_c10_prod_cr.bin
[ 8.4103 ]
[ 8.4109 ] tegrahost_v2 --chip 0x19 0 --magicid MTSB --appendsigheader blob_mts_c10_prod_cr.bin zerosbk
[ 8.4115 ] adding BCH for blob_mts_c10_prod_cr.bin
[ 8.4771 ]
[ 8.4781 ] tegrasign_v2 --key None --list blob_mts_c10_prod_cr_sigheader.bin_list.xml --pubkeyhash pub_key.key
[ 8.4787 ] Assuming zero filled SBK key
[ 8.4818 ]
[ 8.4829 ] tegrahost_v2 --chip 0x19 0 --updatesigheader blob_mts_c10_prod_cr_sigheader.bin.encrypt blob_mts_c10_prod_cr_sigheader.bin.hash zerosbk
[ 8.5194 ]
[ 8.5203 ] tegrahost_v2 --chip 0x19 --align blob_bpmp_t194.bin
[ 8.5210 ]
[ 8.5220 ] tegrahost_v2 --chip 0x19 0 --magicid BPMF --appendsigheader blob_bpmp_t194.bin zerosbk
[ 8.5230 ] adding BCH for blob_bpmp_t194.bin
[ 8.5395 ]
[ 8.5414 ] tegrasign_v2 --key None --list blob_bpmp_t194_sigheader.bin_list.xml --pubkeyhash pub_key.key
[ 8.5429 ] Assuming zero filled SBK key
[ 8.5438 ]
[ 8.5452 ] tegrahost_v2 --chip 0x19 0 --updatesigheader blob_bpmp_t194_sigheader.bin.encrypt blob_bpmp_t194_sigheader.bin.hash zerosbk
[ 8.5549 ]
[ 8.5557 ] tegrahost_v2 --chip 0x19 --align blob_tegra194-a02-bpmp-p2888-a04.dtb
[ 8.5563 ]
[ 8.5568 ] tegrahost_v2 --chip 0x19 0 --magicid BPMD --appendsigheader blob_tegra194-a02-bpmp-p2888-a04.dtb zerosbk
[ 8.5573 ] adding BCH for blob_tegra194-a02-bpmp-p2888-a04.dtb
[ 8.5730 ]
[ 8.5742 ] tegrasign_v2 --key None --list blob_tegra194-a02-bpmp-p2888-a04_sigheader.dtb_list.xml --pubkeyhash pub_key.key
[ 8.5749 ] Assuming zero filled SBK key
[ 8.5756 ]
[ 8.5766 ] tegrahost_v2 --chip 0x19 0 --updatesigheader blob_tegra194-a02-bpmp-p2888-a04_sigheader.dtb.encrypt blob_tegra194-a02-bpmp-p2888-a04_sigheader.dtb.hash zerosbk
[ 8.5847 ]
[ 8.5855 ] tegrahost_v2 --chip 0x19 --align blob_spe_t194.bin
[ 8.5861 ]
[ 8.5867 ] tegrahost_v2 --chip 0x19 0 --magicid SPEF --appendsigheader blob_spe_t194.bin zerosbk
[ 8.5872 ] adding BCH for blob_spe_t194.bin
[ 8.5896 ]
[ 8.5903 ] tegrasign_v2 --key None --list blob_spe_t194_sigheader.bin_list.xml --pubkeyhash pub_key.key
[ 8.5909 ] Assuming zero filled SBK key
[ 8.5911 ]
[ 8.5919 ] tegrahost_v2 --chip 0x19 0 --updatesigheader blob_spe_t194_sigheader.bin.encrypt blob_spe_t194_sigheader.bin.hash zerosbk
[ 8.5938 ]
[ 8.5945 ] tegrahost_v2 --chip 0x19 --align blob_tos-trusty_t194.img
[ 8.5951 ]
[ 8.5957 ] tegrahost_v2 --chip 0x19 0 --magicid TOSB --appendsigheader blob_tos-trusty_t194.img zerosbk
[ 8.5963 ] adding BCH for blob_tos-trusty_t194.img
[ 8.6038 ]
[ 8.6055 ] tegrasign_v2 --key None --list blob_tos-trusty_t194_sigheader.img_list.xml --pubkeyhash pub_key.key
[ 8.6064 ] Assuming zero filled SBK key
[ 8.6069 ]
[ 8.6078 ] tegrahost_v2 --chip 0x19 0 --updatesigheader blob_tos-trusty_t194_sigheader.img.encrypt blob_tos-trusty_t194_sigheader.img.hash zerosbk
[ 8.6123 ]
[ 8.6130 ] tegrahost_v2 --chip 0x19 --align blob_eks.img
[ 8.6136 ]
[ 8.6142 ] tegrahost_v2 --chip 0x19 0 --magicid EKSB --appendsigheader blob_eks.img zerosbk
[ 8.6148 ] adding BCH for blob_eks.img
[ 8.6148 ]
[ 8.6156 ] tegrasign_v2 --key None --list blob_eks_sigheader.img_list.xml --pubkeyhash pub_key.key
[ 8.6162 ] Assuming zero filled SBK key
[ 8.6163 ]
[ 8.6172 ] tegrahost_v2 --chip 0x19 0 --updatesigheader blob_eks_sigheader.img.encrypt blob_eks_sigheader.img.hash zerosbk
[ 8.6179 ]
[ 8.6186 ] tegrahost_v2 --chip 0x19 --align blob_tegra194-p2888-0001-p2822-0000.dtb
[ 8.6193 ]
[ 8.6199 ] tegrahost_v2 --chip 0x19 0 --magicid CDTB --appendsigheader blob_tegra194-p2888-0001-p2822-0000.dtb zerosbk
[ 8.6205 ] adding BCH for blob_tegra194-p2888-0001-p2822-0000.dtb
[ 8.6260 ]
[ 8.6269 ] tegrasign_v2 --key None --list blob_tegra194-p2888-0001-p2822-0000_sigheader.dtb_list.xml --pubkeyhash pub_key.key
[ 8.6275 ] Assuming zero filled SBK key
[ 8.6279 ]
[ 8.6290 ] tegrahost_v2 --chip 0x19 0 --updatesigheader blob_tegra194-p2888-0001-p2822-0000_sigheader.dtb.encrypt blob_tegra194-p2888-0001-p2822-0000_sigheader.dtb.hash zerosbk
[ 8.6330 ]
[ 8.6341 ] tegrahost_v2 --chip 0x19 --generateblob blob.xml blob.bin
[ 8.6347 ] number of images in blob are 11
[ 8.6349 ] blobsize is 6368328
[ 8.6350 ] Added binary blob_nvtboot_recovery_cpu_t194_sigheader.bin.encrypt of size 258144
[ 8.6370 ] Added binary blob_nvtboot_recovery_t194_sigheader.bin.encrypt of size 129936
[ 8.6376 ] Added binary blob_preboot_c10_prod_cr_sigheader.bin.encrypt of size 24016
[ 8.6383 ] Added binary blob_mce_c10_prod_cr_sigheader.bin.encrypt of size 142592
[ 8.6389 ] Added binary blob_mts_c10_prod_cr_sigheader.bin.encrypt of size 3430800
[ 8.6400 ] Added binary blob_bpmp_t194_sigheader.bin.encrypt of size 856112
[ 8.6408 ] Added binary blob_tegra194-a02-bpmp-p2888-a04_sigheader.dtb.encrypt of size 747008
[ 8.6414 ] Added binary blob_spe_t194_sigheader.bin.encrypt of size 120496
[ 8.6417 ] Added binary blob_tos-trusty_t194_sigheader.img.encrypt of size 373696
[ 8.6422 ] Added binary blob_eks_sigheader.img.encrypt of size 5136
[ 8.6425 ] Added binary blob_tegra194-p2888-0001-p2822-0000_sigheader.dtb.encrypt of size 280208
[ 8.6440 ]
[ 8.6441 ] Sending bootloader and pre-requisite binaries
[ 8.6449 ] tegrarcm_v2 --download blob blob.bin
[ 8.6455 ] Applet version 01.00.0000
[ 8.6645 ] Sending blob
[ 8.6646 ] […] 100%
[ 9.5991 ]
[ 9.6020 ] tegrarcm_v2 --boot recovery
[ 9.6046 ] Applet version 01.00.0000
[ 9.6124 ]
[ 10.6164 ] tegrarcm_v2 --isapplet
[ 10.6192 ] USB communication failed.Check if device is in recovery
[ 10.8549 ]
[ 10.8579 ] tegrarcm_v2 --ismb2

the flash process stops (or died) here and never go on.
Do you know what might be the issue?

And how can I solve it?

below is what I guess might be the point of the issue, but I still don’t know why and how to solve it.

If i comment the mttcan_transfer(ttcan, fd) in can-app.c as below, it can be flashed succesfully. but if so, the CAN module can not work.
static void can_test_transmit(struct mttcanfd_frame *fd,
struct ttcan_controller *ttcan, bool is_xtd,
bool is_can_fd, bool is_brs)
{
if (is_xtd)
fd->payload.frame.can_id |= (CAN_FMT);
else
fd->payload.frame.can_id &= ~(CAN_FMT);

if (is_can_fd && is_brs)
	fd->payload.frame.flags |= (CAN_FD_FLAG) | (CAN_BRS_FLAG);
else if (is_can_fd)
	fd->payload.frame.flags |= (CAN_FD_FLAG);
else
	fd->payload.frame.flags &= ~((CAN_FD_FLAG) | (CAN_BRS_FLAG));

fd->payload.frame.tstamp = tegra_tke_get_usec();
//mttcan_transfer(ttcan, fd);
printf("Transmited message from CAN %lu\r\n", ttcan->id);
vTaskDelay(CAN_TEST_DELAY);

}

I’m looking forward to your reply.

Thank you.

BR

Hao Ye

so you have confirmed that commenting out mttcan_transfer flashes system fine? If yes then we will focus on keeping mttcan_transfer if this is the failure reason.

so you have confirmed that commenting out mttcan_transfer flashes system fine?
yes I can confirm. I can also confirm that the software in SPE runs correctly except the SPE receives CAN message from other device (for example the host computer), which means if I transmit message from host to Xavier, there will be error:
ERROR:…/code-commen/tegra-can.c:374 [ tegra_can_irq_handler] “IR = 0x8010000CAN 0 data received: 5 PSR 0x711”
ERROR: …/code-commen/tegra-can.c:374 [ tegra_can_irq_handler] “IR = 0x8000000-----------Exception: Undefined instruction …”

Besides, I analyzed the transmit function deep inside the mttcan_transfer(ttcan, fd);.

I commented the ttcan_write32(ttcan, ADR_MTTCAN_TXBAR, (1 << index)); and add the script printf("…"). it can flash correctly.

I also tried replace ADR_MTTCAN_TXBAR with other address value, it flash well.

Therefore, I guess most likely there is something wrong when write value to the address ttcan->base + reg (0x0c310000 + ADR_MTTCAN_TXBAR).

but I don’t know why.

Currently, I’m very confused what is the root cause. the configuration of the kernel? or the code of SPE? or there is version limitation of L4T source and the release?

void ttcan_tx_trigger_msg_transmit(struct ttcan_controller *ttcan, uint8_t index)
{
printf(“ADR_MTTCAN_TXBAR: %x .”, ADR_MTTCAN_TXBAR);
// ttcan_write32(ttcan, ADR_MTTCAN_TXBAR, (1 << index));
}

By the way, how can I check if the scr in tegra194-mb1-bct-scr-cbb-mini.cfg has changed according to my modification?

for example, I can check pinmux value via busybox. Then how can I check scr.378.4.

When the CAN transceivers are not connected or in a error state the CAN transmit part of the driver emits continuous debug prints. This causes a debug UART port ownership issue and a race condition between SPE and BLs, breaking the flashing process.

One way to solve such a problem is to rate-limit or disable the debug messages from tegra-can.c. Specifically, rate-limit or disable the messages from tegra_can_irq_handler() and tegra_add_msg_ctlr_list().

tegra_can_irq_handler() has many if conditions which test various interrupt status bits, but when the CAN transceivers are not connected the function mainly prints debug messages from the if((ir & MIT_IR_PED_MASK) || (ir & MIT_IR_PEA_MASK)) block. Rate-limiting such debug messages with a simple counter, or commenting them out, generally solves the issue. Below are the changes you can experiment with in ADDITION to above changes in tegra-can.c file.

  1. Add line (FREERTOS_COMMON_DIR)/code-common/irqapi-cortex-r5.c \ in Makefile to compile irqapi-cortex-r5.c. (FREERTOS_COMMON_DIR)/code-common/irqapi-vic.c \
  •  $(FREERTOS_COMMON_DIR)/code-common/irqapi-cortex-r5.c \
      $(FREERTOS_COMMON_DIR)/code-common/tke-tegra.c \
    
  1. Rate limit error debug messages or remove them completely both in the can-app.c.
    case MTTCAN_MSG_BERR_CHG:
    if (i++ < PRINTF_RATE_LIMIT)
    printf(“Bus Error\r\n”);
    Or
    you can remove “Bus Error” line completely.

I tried according your solution. Below is the situations:

  1. when the CAN transceiver is not connected to the Jetson AGX Xavier, the SPE can be flashed with the modification of your solution.
  2. however, when the CAN transceiver is connected to the Xavier, the error comes again.
  3. I tried flash the SPE without the transceiver, after flash, I power off the Xavier, then connect the transceiver, then power on the Xavier. Unfortunately, the Xavier can not be turned on (the Xavier seems died and can not be opened).
  4. I tried the normal mode of the CAN bus (use the CAN in kernel, not in the SPE). It work well. It can transmit and receive CAN message correctly.

So, My question is that is there special request of the CAN transceiver for Xavier (SPE mode)? For example, is it necessary for CAN transceiver to support CAN FD?

is it necessary for the debug tool to support CAN FD?

can the software be modified to make the CAN mode just like traditional CAN bus? and how to do it?

can you recommend a transceiver which support CAN FD for Jetson AGX Xavier?

BR!

doc/can-app.md states what CAN transceivers is used with app/can-app.c. Also in the app/can-app.c you can comment out the CAN modes that you do not want in while loop where can_test_transmit function gets called.

I have a transceiver which is TJA 1043 of NXP.
I am not clear if it support CAN FD.
anyway, this transceiver can work with the kernel mode (just set up the CAN bus in kernel, not in the SPE). dose this mean it support CAN FD?

If that works in kernel in whatever mode you configured, it should work in SPE, however I admit that I have never tried that NXP CAN transceiver.

I change a transceiver which support CAN FD mode. I modified the software as you described above.
however, there is still issue.

below is the debug message from CCPLEX:
[0011.005] I> Welcome to TBoot-CPU Recovery
[0011.006] I> Heap: [0xa4000000 … 0xaa000000
[0011.008] I> gpio framework initialized
[0011.020] I> tegrabl_gpio_driver_register: register ‘nvidia,tegra194-gpio’ driver
[0011.125] I> tegrabl_gpio_driver_register: register ‘nvidia,tegra194-gpio-aon’ driver
[0011.128] I> tegrabl_tca9539_init: i2c bus: 1, slave addr: 0x46
[0011.139] E> fetch_driver_phandle_from_dt: failed to get node with compatible ti,tca9539
[0011.147] E> fetch_driver_phandle_from_dt: failed to get node with compatible nxp,tca9539
[0011.150] W> tegrabl_tca9539_init: failed to fetch phandle from dt
[0011.158] I> tegrabl_tca9539_init: i2c bus: 1, slave addr: 0x44
[0011.167] E> fetch_driver_phandle_from_dt: failed to get node with compatible ti,tca9539
[0011.224] E> fetch_driver_phandle_from_dt: failed to get node with compatible nxp,tca9539
[0011.228] W> tegrabl_tca9539_init: failed to fetch phandle from dt
[0011.237] I> fixed regulator driver initialized
[0011.255] I> CPU: Nvidia Carmel
[0011.256] I> CPU: MIDR: 0x4e0f0040, MPIDR: 0x80000000
[0011.256] I> chip revision : A02P
[0011.257] I> Boot-device: eMMC
[0011.257] I> Boot_device: SDMMC_BOOT instance: 3
[0011.700] I> sdmmc-3 params source = boot args
[0011.700] I> sdmmc bdev is already initialized
[0011.701] I> sdmmc-3 params source = boot args
[0011.728] I> Found 17 partitions in SDMMC_BOOT (instance 3)
[0011.741] I> Found 42 partitions in SDMMC_USER (instance 3)
[0011.742] I> Recovery boot_type: 0
[0011.743] I> Entering 3p server
[0011.743] I> USB configuration success
[0011.788] I> Writing spe-fw partition.
[0011.863] I> Rebooting : reset-coldboot

[0001.138] I> Welcome to Cboot
[0001.138] I> Cboot Version: t194-18fdfe28
[0001.139] I> CPU-BL Params @ 0xf2820000
[0001.139] I> 0) Base:0x00000000 Size:0x00000000
[0001.141] I> 1) Base:0xf1100000 Size:0x00100000
[0001.145] I> 2) Base:0xf2000000 Size:0x00200000
[0001.149] I> 3) Base:0xf1200000 Size:0x00200000
[0001.154] I> 4) Base:0xf1000000 Size:0x00100000
[0001.158] I> 5) Base:0xf0f00000 Size:0x00100000
[0001.163] I> 6) Base:0xf3800000 Size:0x00400000
[0001.167] I> 7) Base:0xf1c00000 Size:0x00400000
[0001.172] I> 8) Base:0xf0e00000 Size:0x00100000
[0001.176] I> 9) Base:0xf0d00000 Size:0x00100000
[0001.181] I> 10) Base:0xf3000000 Size:0x00800000
[0001.185] I> 11) Base:0x40000000 Size:0x00040000
[0001.190] I> 12) Base:0xf0c00000 Size:0x00100000
[0001.194] I> 13) Base:0x40046000 Size:0x00002000
[0001.199] I> 14) Base:0x40048000 Size:0x00002000
[0001.203] I> 15) Base:0xac000000 Size:0x00004000
[0001.208] I> 16) Base:0x4004a000 Size:0x00002000
[0001.212] I> 17) Base:0xf0b00000 Size:0x00100000
[0001.216] I> 18) Base:0x4004c000 Size:0x00002000
[0001.221] I> 19) Base:0xf2200000 Size:0x00600000
[0001.225] I> 20) Base:0x4004e000 Size:0x00002000
[0001.230] I> 21) Base:0xf09d0000 Size:0x0000c000
[0001.325] I> 22) Base:0x00000000 Size:0x00000000
[0001.330] I> 23) Base:0xf09e0000 Size:0x00020000
[0001.334] I> 24) Base:0xf6000000 Size:0x02000000
[0001.339] I> 25) Base:0x40050000 Size:0x00002000
[0001.343] I> 26) Base:0x40040000 Size:0x00006000
[0001.348] I> 27) Base:0xf1800000 Size:0x00400000
[0001.352] I> 28) Base:0xf4c00000 Size:0x01400000
[0001.356] I> 29) Base:0xf1400000 Size:0x00400000
[0001.361] I> 30) Base:0xf0a00000 Size:0x00100000
[0001.365] I> 31) Base:0x00000000 Size:0x00000000
[0001.370] I> 32) Base:0xf8000000 Size:0x08000000
[0001.425] I> 33) Base:0x00000000 Size:0x00000000
[0001.429] I> 34) Base:0xf3c00000 Size:0x01000000
[0001.434] I> 35) Base:0xab000000 Size:0x01000000
[0001.438] I> 36) Base:0xa0000000 Size:0x0b000000
[0001.443] I> 37) Base:0xf2800000 Size:0x00800000
[0001.447] I> 38) Base:0x80000000 Size:0x20000000
[0001.451] I> 39) Base:0xb0000000 Size:0x08000000
[0001.456] I> 40) Base:0x00000000 Size:0x00000000
[0001.460] I> 41) Base:0x00000000 Size:0x00000000
[0001.465] I> 42) Base:0x00000000 Size:0x00000000
[0001.469] I> 43) Base:0x00000000 Size:0x00000000
[0001.474] I> 44) Base:0x00000000 Size:0x00000000
[0001.478] I> 45) Base:0x00000000 Size:0x00000000
[0001.483] GIC-SPI Target CPU: 0
[0001.486] Interrupts Init done
[0001.489] calling constructors
[0001.491] initializing heap
[0001.494] I> Heap: [0xa06905a8 … 0xab000000]
[0001.498] initializing threads
[0001.501] initializing timers
[0001.504] creating bootstrap completion thread
[0001.508] top of bootstrap2()
[0001.511] CPU: MIDR: 0x4E0F0040, MPIDR: 0x80000000
[0001.516] initializing platform
[0001.519] E> DEVICE_PROD: Invalid value data = 0, size = 0.
[0001.524] W> device prod register failed
[0001.528] I> Bl_dtb @0xaaf00000
[0001.534] W> “plugin-manager” doesn’t exist, creating
[0001.536] W> “ids” doesn’t exist, creating
[0001.540] W> “connection” doesn’t exist, creating
[0001.544] W> “configs” doesn’t exist, creating
[0001.557] I> Find /i2c@3160000’s alias i2c0
[0001.557] I> Reading eeprom i2c=0 address=0x50
[0001.583] I> Device at /i2c@3160000:0x50
[0001.584] I> Reading eeprom i2c=0 address=0x56
[0001.609] I> Device at /i2c@3160000:0x56
[0001.611] I> Find /i2c@3180000’s alias i2c2
[0001.612] I> Reading eeprom i2c=2 address=0x54
[0001.614] E> I2C: slave not found in slaves.
[0001.614] E> I2C: Could not write 0 bytes to slave: 0x00a8 with repeat start true.
[0001.616] E> I2C_DEV: Failed to send register address 0x00000000.
[0001.617] E> I2C_DEV: Could not read 256 registers of size 1 from slave 0xa8 at 0x00000000 via instance 2.
[0001.623] E> eeprom: Failed to read I2C slave device
[0001.628] I> Eeprom read failed 0x3526070d
[0001.632] I> Reading eeprom i2c=2 address=0x57
[0001.636] E> I2C: slave not found in slaves.
[0001.640] E> I2C: Could not write 0 bytes to slave: 0x00ae with repeat start true.
[0001.648] E> I2C_DEV: Failed to send register address 0x00000000.
[0001.653] E> I2C_DEV: Could not read 256 registers of size 1 from slave 0xae at 0x00000000 via instance 2.
[0001.663] E> eeprom: Failed to read I2C slave device
[0001.668] I> Eeprom read failed 0x3526070d
[0001.672] I> Reading eeprom i2c=2 address=0x52
[0001.676] E> I2C: slave not found in slaves.
[0001.680] E> I2C: Could not write 0 bytes to slave: 0x00a4 with repeat start true.
[0001.688] E> I2C_DEV: Failed to send register address 0x00000000.
[0001.694] E> I2C_DEV: Could not read 256 registers of size 1 from slave 0xa4 at 0x00000000 via instance 2.
[0001.703] E> eeprom: Failed to read I2C slave device
[0001.708] I> Eeprom read failed 0x3526070d
[0001.713] I> Find /i2c@c240000’s alias i2c1
[0001.716] I> Reading eeprom i2c=1 address=0x52
[0001.721] E> I2C: slave not found in slaves.
[0001.724] E> I2C: Could not write 0 bytes to slave: 0x00a4 with repeat start true.
[0001.732] E> I2C_DEV: Failed to send register address 0x00000000.
[0001.738] E> I2C_DEV: Could not read 256 registers of size 1 from slave 0xa4 at 0x00000000 via instance 1.
[0001.747] E> eeprom: Retry to read I2C slave device.
[0001.752] E> I2C: slave not found in slaves.
[0001.756] E> I2C: Could not write 0 bytes to slave: 0x00a4 with repeat start true.
[0001.764] E> I2C_DEV: Failed to send register address 0x00000000.
[0001.769] E> I2C_DEV: Could not read 256 registers of size 1 from slave 0xa4 at 0x00000000 via instance 1.
[0001.779] E> eeprom: Failed to read I2C slave device
[0001.784] I> Eeprom read failed 0x3526070d
[0001.788] I> Reading eeprom i2c=1 address=0x50
[0001.792] E> I2C: slave not found in slaves.
[0001.796] E> I2C: Could not write 0 bytes to slave: 0x00a0 with repeat start true.
[0001.804] E> I2C_DEV: Failed to send register address 0x00000000.
[0001.810] E> I2C_DEV: Could not read 256 registers of size 1 from slave 0xa0 at 0x00000000 via instance 1.
[0001.819] E> eeprom: Retry to read I2C slave device.
[0001.824] E> I2C: slave not found in slaves.
[0001.828] E> I2C: Could not write 0 bytes to slave: 0x00a0 with repeat start true.
[0001.836] E> I2C_DEV: Failed to send register address 0x00000000.
[0001.841] E> I2C_DEV: Could not read 256 registers of size 1 from slave 0xa0 at 0x00000000 via instance 1.
[0001.851] E> eeprom: Failed to read I2C slave device
[0001.856] I> Eeprom read failed 0x3526070d
[0001.860] I> create_pm_ids: id: 2888-0004-400-K, len: 15
[0001.865] I> config: mem-type:00,power-config:00,misc-config:00,modem-config:00,touch-config:00,display-config:00, len: 93
[0001.876] I> create_pm_ids: id: 2822-0000-700-J, len: 15
[0001.881] I> config: mem-type:00,power-config:00,misc-config:00,modem-config:00,touch-config:00,display-config:00, len: 93
[0001.892] I> Adding plugin-manager/ids/2888-0004-400=/i2c@3160000:module@0x50
[0001.900] W> “i2c@3160000” doesn’t exist, creating
[0001.904] W> “module@0x50” doesn’t exist, creating
[0001.909] I> Adding plugin-manager/ids/2822-0000-700=/i2c@3160000:module@0x56
[0001.916] W> “module@0x56” doesn’t exist, creating
[0001.922] I> Adding plugin-manager/cvm
[0001.924] W> “chip-id” doesn’t exist, creating
[0001.928] I> Adding plugin-manager/chip-id/A02P
[0001.932] I> Plugin-manager override starting
[0001.937] I> node /plugin-manager/fragement-tegra-wdt-en matches
[0001.948] I> node /plugin-manager/fragement-soft-wdt matches
[0001.958] I> node /plugin-manager/fragment-pcie-c5-rp matches
[0001.964] I> node /plugin-manager/fragment-tegra-ufs-lane10 matches
[0001.977] I> Disable plugin-manager status in FDT
[0001.977] I> Plugin-manager override finished successfully
[0001.978] I> gpio framework initialized
[0001.980] I> tegrabl_gpio_driver_register: register ‘nvidia,tegra194-gpio’ driver
[0001.983] I> tegrabl_gpio_driver_register: register ‘nvidia,tegra194-gpio-aon’ driver
[0001.988] I> tegrabl_tca9539_init: i2c bus: 1, slave addr: 0x46
[0001.996] E> fetch_driver_phandle_from_dt: failed to get node with compatible ti,tca9539
[0002.004] E> fetch_driver_phandle_from_dt: failed to get node with compatible nxp,tca9539
[0002.010] W> tegrabl_tca9539_init: failed to fetch phandle from dt
[0002.016] I> tegrabl_tca9539_init: i2c bus: 1, slave addr: 0x44
[0002.024] E> fetch_driver_phandle_from_dt: failed to get node with compatible ti,tca9539
[0002.032] E> fetch_driver_phandle_from_dt: failed to get node with compatible nxp,tca9539
[0002.038] W> tegrabl_tca9539_init: failed to fetch phandle from dt
[0002.046] I> fixed regulator driver initialized
[0002.057] I> register ‘maxim’ power off handle
[0002.058] I> virtual i2c enabled
[0002.059] I> registered ‘maxim,max20024’ pmic
[0002.060] I> tegrabl_gpio_driver_register: register ‘max20024-gpio’ driver
[0002.066] I> Boot-device: eMMC
[0002.069] I> Boot_device: SDMMC_BOOT instance: 3
[0002.078] I> sdmmc-3 params source = boot args
[0002.079] I> create_pm_ids: id: 2888-0004-400-K, len: 15
[0002.083] I> config: mem-type:00,power-config:00,misc-config:00,modem-config:00,touch-config:00,display-config:00, len: 93
[0002.094] I> create_pm_ids: id: 2822-0000-700-J, len: 15
[0002.099] I> config: mem-type:00,power-config:00,misc-config:00,modem-config:00,touch-config:00,display-config:00, len: 93
[0002.110] I> sdmmc bdev is already initialized
[0002.115] I> sdmmc-3 params source = boot args
[0002.145] I> Found 17 partitions in SDMMC_BOOT (instance 3)
[0002.158] I> Found 42 partitions in SDMMC_USER (instance 3)
[0002.171] I> enabling ‘vdd-hdmi-5v0’ regulator
[0002.178] I> regulator ‘vdd-hdmi-5v0’ already enabled
[0002.179] I> hdmi cable connected
[0002.182] W> set volts not configured for ‘vdd-1v0’
[0002.185] W> set volts not configured for ‘vdd-1v8-hs’
[0002.190] E> invalid display type
[0002.195] E> invalid display type
[0002.197] E> cannot find any other nvdisp nodes
[0002.213] I> edid read success
[0002.226] I> edid read success
[0002.226] I> width = 640, height = 480, frequency = 25174825
[0002.227] I> width = 640, height = 480, frequency = 25174825
[0002.228] I> width = 1920, height = 1080, frequency = 148500000
[0002.229] I> width = 1920, height = 1080, frequency = 148500000
[0002.230] I> width = 1920, height = 1080, frequency = 148351648
[0002.232] I> width = 1280, height = 720, frequency = 74175824
[0002.237] I> width = 720, height = 480, frequency = 26973026
[0002.243] I> width = 720, height = 480, frequency = 26973026
[0002.249] I> width = 640, height = 480, frequency = 25174825
[0002.254] I> width = 720, height = 576, frequency = 26973026
[0002.260] I> width = 720, height = 576, frequency = 26973026
[0002.265] I> width = 1280, height = 720, frequency = 74175824
[0002.271] I> width = 1920, height = 1080, frequency = 148351648
[0002.276] I> Best mode Width = 1920, Height = 1080, freq = 148351648
[0002.286] I> hdmi_enable, starting HDMI initialisation
[0002.292] I> hdmi_enable, HDMI initialisation complete
[0002.301] I> Load in CBoot Boot Options partition and parse it
[0002.308] E> Error -9 when finding node with path /boot-configuration
[0002.309] E> tegrabl_cbo_parse_info: “boot-configuration” not found in CBO file.
[0002.312] I> Hit any key to stop autoboot: 4 3 2 1
[0004.320] initializing target
[0004.321] calling apps_init()
[0004.322] starting app kernel_boot_app
[0004.342] I> found decompressor handler: lz4-legacy
[0004.343] I> decompressing BMP blob …
[0004.347] I> Kernel type = Normal
[0004.347] I> Loading kernel-bootctrl from partition
[0004.348] I> Loading partition kernel-bootctrl at 0xa4ac0000 from device(0x1)
[0004.355] W> tegrabl_get_kernel_bootctrl: magic number(0x00000000) is invalid
[0004.356] W> tegrabl_get_kernel_bootctrl: use default dummy boot control data
[0004.357] I> ########## SD boot ##########
[0004.359] I> No sdcard
[0004.361] I> -0 params source =
[0004.364] E> Blockdev open: exit error
[0004.367] E> SD boot failed, err: 724238353
[0004.371] I> ########## USB boot ##########
[0004.380] W> No valid slot number is found in scratch register
[0004.381] W> Return default slot: _a
[0004.397] I> USB Firmware Version: 60.06 release
[0004.453] I> regulator of usb2-0 already enabled
[0004.462] I> regulator of usb2-1 already enabled
[0004.471] I> regulator of usb2-2 already enabled
[0004.482] I> enabling ‘vdd-5v-sata’ regulator
[0005.489] E> failed to initialize xhci controller
[0005.489] E> Error in init of XUSB host driver, err: 79790026
[0005.490] E> Failed to initialize device 5-0
[0005.491] E> USB boot failed, err: 2037973030
[0005.491] I> ########## Fixed storage boot ##########
[0005.492] I> Already published: 00010003
[0005.493] I> Look for boot partition
[0005.494] I> Fallback: assuming 0th partition is boot partition
[0005.500] I> Detect filesystem
[0005.527] I> Loading extlinux.conf …
[0005.528] I> rootfs path: /sdmmc_user/boot/extlinux/extlinux.conf
[0005.565] I> L4T boot options
[0005.565] I> [1]: “primary kernel”
[0005.566] I> Enter choice:
[0008.567] I> Continuing with default option: 1
[0008.567] I> Loading kernel sig file from rootfs …
[0008.568] I> rootfs path: /sdmmc_user/boot/Image.sig
[0008.587] I> Loading kernel binary from rootfs …
[0008.588] I> rootfs path: /sdmmc_user/boot/Image
[0008.829] I> Validate kernel …
[0008.829] I> T19x: Authenticate kernel (bin_type: 37), max size 0x5000000
[0009.159] I> No kernel-dtb binary path
[0009.160] W> No valid slot number is found in scratch register
[0009.161] W> Return default slot: _a
[0009.161] I> A/B: bin_type (38) slot 0
[0009.162] I> Loading kernel-dtb from partition
[0009.162] I> Loading partition kernel-dtb at 0x91000000 from device(0x1)
[0009.172] I> Validate kernel-dtb …
[0009.172] I> T19x: Authenticate kernel-dtb (bin_type: 38), max size 0x400000
[0009.177] I> Loading ramdisk from rootfs …
[0009.177] I> rootfs path: /sdmmc_user/boot/initrd
[0009.234] I> Kernel hdr @0xa4ac0000
[0009.235] I> Kernel dtb @0x90000000
[0009.235] I> decompressor handler not found
[0009.236] I> Copying kernel image (34396176 bytes) from 0xa4ac0000 to 0x80080000 … [0009.246] I> Done
[0009.247] I> Updated bpmp info to DTB
[0009.249] I> Ramdisk: Base: 0x92000000; Size: 0x54ecaf
[0009.249] I> Updated initrd info to DTB
[0009.250] W> WARN: Fail to override “console=none” in commandline
[0009.251] E> tegrabl_linuxboot_add_disp_param, du 1 failed to get display params
[0009.254] E> tegrabl_linuxboot_add_disp_param, du 1 failed to get display params
[0009.262] W> No valid slot number is found in scratch register
[0009.267] W> Return default slot: _a
[0009.271] I> Active slot suffix:
[0009.274] I> add_boot_slot_suffix: slot_suffix =
[0009.279] I> Linux Cmdline: console=ttyTCU0,115200 video=tegrafb no_console_suspend=1 earlycon=tegra_comb_uart,mmio32,0x0c168000 gpt tegra_fbmem=0x800000@0xa069c000 lut_mem=0x2008@0xa0697000 usbcore.old_scheme
[0009.308] I> Updated bootarg info to DTB
[0009.312] W> MAC addr invalid!
[0009.315] E> Failed to get WIFI MAC address
[0009.319] W> MAC addr invalid!
[0009.322] E> Failed to get Bluetooth MAC address
[0009.326] I> eeprom_get_mac_addr: MAC (type: 2): 48:b0:2d:05:b6:fa
[0009.333] W> “plugin-manager” doesn’t exist, creating
[0009.337] I> Adding /chosen/plugin-manager/cvm
[0009.341] W> “chip-id” doesn’t exist, creating
[0009.346] I> Adding /chosen/plugin-manager/chip-id
[0009.350] W> “configs” doesn’t exist, creating
[0009.355] I> Adding /chosen/plugin-manager/configs
[0009.359] W> “ids” doesn’t exist, creating
[0009.363] I> Adding /chosen/plugin-manager/ids
[0009.368] W> “odm-data” doesn’t exist, creating
[0009.372] I> Adding /chosen/plugin-manager/odm-data
[0009.379] W> “memory” doesn’t exist, creating
[0009.381] I> [0] START: 0x80000000, END: 0xac000000
[0009.385] I> [1] START: 0xac004000, END: 0xf09d0000
[0009.390] I> [2] START: 0xf09dc000, END: 0xf09e0000
[0009.395] I> dram_block larger than 80000000
[0009.399] I> [3] START: 0x100000000, END: 0x880000000
[0009.404] I> added [base:0x80000000, size:0x2c000000] to /memory
[0009.410] I> added [base:0xac200000, size:0x44600000] to /memory
[0009.416] I> added [base:0x100000000, size:0x780000000] to /memory
[0009.423] I> Updated memory info to DTB
[0009.426] E> add_disp_param: failed to get display params for du=1
[0009.432] W> “reset” doesn’t exist, creating
[0009.436] I> NVG: Logical CPU: 0; MPIDR: 0x80000000
[0009.440] I> NVG: Logical CPU: 1; MPIDR: 0x80000001
[0009.445] I> NVG: Logical CPU: 2; MPIDR: 0x80000100
[0009.450] I> NVG: Logical CPU: 3; MPIDR: 0x80000101
[0009.454] I> NVG: Logical CPU: 4; MPIDR: 0x80000200
[0009.459] I> NVG: Logical CPU: 5; MPIDR: 0x80000201
[0009.464] I> NVG: Logical CPU: 6; MPIDR: 0x80000300
[0009.469] I> NVG: Logical CPU: 7; MPIDR: 0x80000301
[0009.474] W> “misc-data” doesn’t exist, creating
[0009.478] I> Boot-device: eMMC
[0009.481] I> Add boot-sdmmc to plugin-manager/misc-data
[0009.486] I> Add storage-sdmmc to plugin-manager/misc-data
[0009.491] W> Unknown storage device
[0009.495] I> Add serial number:1421720004152 as DT property
[0009.501] I> Plugin-manager override starting
[0009.504] I> node /plugin-manager/fragement-tegra-wdt-en matches
[0009.512] I> node /plugin-manager/fragement-soft-wdt matches
[0009.519] I> node /plugin-manager/fragment-pcie-c5-rp matches
[0009.524] I> node /plugin-manager/fragment-tegra-ufs-lane10 matches
[0009.534] I> Disable plugin-manager status in FDT
[0009.535] I> Plugin-manager override finished successfully
[0009.537] I> tegrabl_load_kernel_and_dtb: Done
[0009.559] I> Kernel EP: 0x80080000, DTB: 0x90000000
[ 0.000000] Booting Linux on physical CPU 0x0
[ 0.000000] Linux version 4.9.140-tegra (haoye@haoye-Latitude-5310) (gcc version 7.3.1 20180425 [linaro-7.3-2018.05 revision d29120a424ecfbc167ef90065c0eeb7f91977701] (Linaro GCC 7.3-2018.05) ) #1 SMP PREEMP1
[ 0.000000] Boot CPU: AArch64 Processor [4e0f0040]
[ 0.000000] OF: fdt:memory scan node memory, reg size 48,
[ 0.000000] OF: fdt: - 80000000 , 2c000000
[ 0.000000] OF: fdt: - ac200000 , 44600000
[ 0.000000] OF: fdt: - 100000000 , 780000000
[ 0.000000] earlycon: tegra_comb_uart0 at MMIO32 0x000000000c168000 (options ‘’)
[ 0.000000] bootconsole [tegra_comb_uart0] enabled
[ 0.000000] Found tegra_fbmem: 00800000@a069c000
[ 0.000000] Found lut_mem: 00002008@a0697000
[ 2.113072] tegra186-aondbg aondbg: No response
[ 2.113083] tegra_clocks_config: initialization failed: error -110
[ 6.149023] tegra186-aondbg aondbg: No response
[ 6.149274] tegra_aon_mbox_send_data mbox send failed with error -12
[ 6.173023] tegra_aon_mbox_send_data mbox send failed with error -12
[ 6.173337] tegra186-aondbg aondbg: mbox_send_message failed
[ 6.396627] cgroup: cgroup2: unknown option “nsdelegate”
[ 7.395640] using random self ethernet address
[ 7.395860] using random host ethernet address
[ 7.809902] random: crng init done
[ 7.810093] random: 7 urandom warning(s) missed due to ratelimiting
[ 7.873403] using random self ethernet address
[ 7.873681] using random host ethernet address
[ 8.318192] CPU4: shutdown
[ 8.388849] CPU5: shutdown
[ 8.482216] CPU6: shutdown
[ 8.575533] CPU7: shutdown

Ubuntu 18.04.4 LTS nvidia-desktop ttyTCU0

nvidia-desktop login:

below is the debug information from the SPE:

ERROR: /home/haoye/l4t_rt_aux_cpu_src/l4t-rt/freertos-common/code-common/tegra-mttcan.c:656 [ttcan_tx_fifo_queue_msg] “Tx queue/FIFO full”

In the function can0_xmit_test, I only enabled the Normal CAN frame with 11 bit.

197 while (1) {
198 /* Normal CAN frame with 11 bit identifier /
199 can_test_transmit(&fd, ttcan, false, false, false);
200 /
Normal CAN frame with 29 bit identifier /
201 // can_test_transmit(&fd, ttcan, true, false, false);
202 /
CAN FD frame with 11 bit identifier /
203 // can_test_transmit(&fd, ttcan, false, true, false);
204 /
CAN FD frame with 29 bit identifier /
205 // can_test_transmit(&fd, ttcan, true, true, false);
206 /
CAN FD BRS frame with 11 bit identifier /
207 // can_test_transmit(&fd, ttcan, false, true, true);
208 /
CAN FD BRS frame with 29 bit identifier */
209 // can_test_transmit(&fd, ttcan, true, true, true);
210 }

is this still the issue transceiver? or the issue of the kernel device tree configuration? or the issue of the l4t_rt_aux_cpu_src?