Jetson AGX orin can0

[a.obeidat4]

I am trying to use jetson AGX orin (JetPack 5.1.1. Ubuntu 20.04.6 LTS) can pins (with WaveShare SN65HVD230 CAN transceiver). when i first run it it worked fine. but after that only rx is working and i cant send more commands:

ip -details -statistics link show can0
9: can0: <NOARP,UP,LOWER_UP,ECHO> mtu 16 qdisc pfifo_fast state UP mode DEFAULT group default qlen 10
link/can promiscuity 0 minmtu 0 maxmtu 0
can state ERROR-PASSIVE (berr-counter tx 176 rx 0) restart-ms 0
bitrate 1000000 sample-point 0.740
tq 20 prop-seg 18 phase-seg1 18 phase-seg2 13 sjw 1
mttcan: tseg1 2…255 tseg2 0…127 sjw 1…127 brp 1…511 brp-inc 1
mttcan: dtseg1 1…31 dtseg2 0…15 dsjw 1…15 dbrp 1…15 dbrp-inc 1
clock 50000000
re-started bus-errors arbit-lost error-warn error-pass bus-off
0 0 0 2 2 1 numtxqueues 1 numrxqueues 1 gso_max_size 65536 gso_max_segs 65535
RX: bytes packets errors dropped overrun mcast
3270480 408816 0 0 0 0
TX: bytes packets errors dropped carrier collsns
14044 1774 0 2 0 0

when restarting mttcan:
sudo rmmod mttcan
sudo modprobe mttcan

it only works for 1 second and then fails again.

I tested:
cansend can0 123#1122334455667788
write: No buffer space available

I tested: sudo busybox devmem 0x0c303018 w 0x454
it also works for 1 sec then fails

[TomNVIDIA]

Hello,

Welcome to the NVIDIA Developer forums! Your topic will be best served in the Jetson category.

Jetson & Embedded Systems

I will move this post over for visibility.

Cheers,
Tom

[KevinFFF]

Hi a.obeidat4,

Are you using the devkit or custom board for AGX Orin?

Please share the block diagram of your connection for CAN interface.
and also the full dmesg for further check.

[a.obeidat4]

I am using the devkit.

This is the full connection:

[ 5167.047286] net can0: mttcan device registered (regs=00000000e22ed91d, irq=14)
[ 5167.049182] Message RAM Configuration
| base addr |0x0c322000|
| sidfc_flssa |0x00000000|
| xidfc_flesa |0x00000040|
| rxf0c_f0sa |0x000000c0|
| rxf1c_f1sa |0x000009c0|
| rxbc_rbsa |0x000009c0|
| txefc_efsa |0x000009c0|
| txbc_tbsa |0x00000a40|
| tmc_tmsa |0x00000ec0|
| mram size |0x00001000|
[ 5167.050511] Release 3.2.3 from 09.06.2018
[ 5167.050912] net can1: mttcan device registered (regs=0000000001a31c84, irq=15)
[ 5170.492699] mttcan c310000.mttcan can0: Bitrate set
[ 5170.493466] mttcan_controller_config: ctrlmode 0
[ 5170.493479] mttcan c310000.mttcan can0: Bitrate set
[ 5170.493804] IPv6: ADDRCONF(NETDEV_CHANGE): can0: link becomes ready
[ 5172.105846] mttcan c310000.mttcan can0: entered error warning state
[ 5172.112538] mttcan c310000.mttcan can0: entered error passive state
[ 5172.225432] mttcan c310000.mttcan can0: entered bus off state

[KevinFFF]

Thanks for sharing how you setup and the connection.

@a.obeidat4

[ 5172.225432] mttcan c310000.mttcan can0: entered bus off state

It seems you enter into bus-off state, which may be caused from the wrong connection like the CAN-H/CAN-L shorted.

Please apply the following change and check if it could help.

diff --git a/drivers/net/can/mttcan/native/m_ttcan_linux.c b/drivers/net/can/mttcan/native/m_ttcan_linux.c
index 5ae1dd576..18e185a1d 100644
--- a/drivers/net/can/mttcan/native/m_ttcan_linux.c
+++ b/drivers/net/can/mttcan/native/m_ttcan_linux.c
@@ -489,7 +489,8 @@ static int mttcan_state_change(struct net_device *dev,
                 */
                ttcan_set_intrpts(priv->ttcan, 0);
                priv->can.can_stats.bus_off++;
-
+               priv->ttcan->tx_object = 0;
+               netif_stop_queue(dev);
                netif_carrier_off(dev);
 
                if (priv->can.restart_ms)
@@ -1098,6 +1099,7 @@ restart:
        priv->can.can_stats.restarts++;
 
        mttcan_start(dev);
+       netif_start_queue(dev);
        netif_carrier_on(dev);
 }

[a.obeidat4]

hello kevin, thanks for the reply.
I am new to linux, and i cant find the file i need to edit, could you please elaborate?
thanks

[KevinFFF]

Please refer to Kernel Customization — Jetson Linux Developer Guide documentation (nvidia.com) to sync the kernel source and modify the m_ttcan_linux.c(it is mttcan driver for CAN interface).
After you apply the above patch, please update the kernel image to apply the change.

[a.obeidat4]

I’m trying to sync the kernel with git because it is recommended and because manually downloading and extracting looks harder, however I cant locate (./source_sync.sh) file and it is not clear in the documentation where to find it.
Can you help locate it please?

[KevinFFF]

It should be included in BSP package (Linux_for_Tegra/)