Jetson Agx Orin CAN communication

Robotics & Edge Computing Jetson Systems Jetson AGX Orin
1

Hello,
I have recently purchased Jetson Agx Orin 64 gb development kit.

Currently I have having problems with CAN communication. I followed instruction from Controller Area Network (CAN) — Jetson Linux<br/>Developer Guide 34.1 documentation

I did cat /proc/device-tree/mttcan@c310000/status - returned okay
Then following commands:
sudo apt-get install busybox
busybox devmem 0x0c303018 w 0x458
busybox devmem 0x0c303010 w 0x400

Command modprobe didn’t work, so I did everything with sudo.

sudo modprobe can
sudo modprobe can_raw
sudo modprobe mttcan

ip link set can0 up type can bitrate 500000
sudo apt-get install can-utils

When I tried, cansend can0 123#abcdabcd nothing happens.

I have also tried loopback test ( with sudo):

$ ip link set can0 type can bitrate 500000 loopback on
$ ip link set can0 up
$ candump can0 &
$ cansend can0 123#abcdabcd
Again, nothing happens on terminal.
What am I doing wrong or what I missed?
Thank you/

3

Hi marinkovicivan,

What’s your Jetpack version in use?

Could you try to use JetsonIO to enable CAN0?

Do you follow every steps in the instruction w/o any issue?

Could you also share the result on the terminal and the full serial console log for further check?

4

Hi Kevin,

I am using Jetpack 5.1.1.

CAN0 is enabled

I have shorted the Tx and Rx pins in order to see if anything is send, but as you can see cansend can0 123#abcdabcd doesn’t return anything.

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5

Could you try to use Jetson IO to enable can0 with Jetson-IO as following?

1. Run Jetson-IO
$ sudo /opt/nvidia/jetson-io/jetson-io.py
2. Enable can0 and can1
Configure Jetson 40pin Header -> Configure header pins manually -> Enable can0/can1 as following -> Back -> Save pin changes -> Save and reboot to reconfigure pins -> Enter
 [*] can0           (29,31)
6

I have just tried it and cansend can0 123#abcdabcd still return nothing.

7

Any advice how to set can communication?

8

With if config, I get following:

an0: flags=193<UP,RUNNING,NOARP> mtu 16
unspec 00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00 txqueuelen 10 (UNSPEC)
RX packets 5 bytes 40 (40.0 B)
RX errors 0 dropped 0 overruns 0 frame 0
TX packets 0 bytes 0 (0.0 B)
TX errors 0 dropped 1 overruns 0 carrier 1 collisions 0
device interrupt 115

9

I have now went through over 50 links and none instruction is good for setting CAN communication.
cansend can0 123#abcdabcd still return nothing

10

Please refer to the following thread about our CAN verification on the devkit.
Jetson AGX Xavier Developer Kit CAN commmunication error - #8 by KevinFFF
It is on the Xavier AGX, but it should be similar for Orin AGX.