Let me share the block diagram of my connection and the steps to verify with one AGX Xavier.
Connections
Setup
Steps to verify
1. Configure pinmux for CAN bus through Jetson IO
1-1 Run Jetson-IO
$ sudo /opt/nvidia/jetson-io/jetson-io.py
1-2 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)
[*] can1 (33,37)
1-3 Check pinmux register
$ sudo busybox devmem 0x0c303018 //can0_din - 0xC454
$ sudo busybox devmem 0x0c303010 //can0_dout - 0xC400
$ sudo busybox devmem 0x0c303008 //can1_din - 0xC454
$ sudo busybox devmem 0x0c303000 //can1_dout - 0xC400
2. Enable CAN
2-1 Load kernel modules
$ sudo modprobe can
can: controller area network core
$ sudo modprobe can_raw
can: raw protocol
$ sudo modprobe mttcan
net canX: mttcan device registered (regs=00000000b6e0395a, irq=51)
2-2 Setup interface
$ sudo ip link set can0 up type can bitrate 500000 dbitrate 1000000 berr-reporting on fd on
$ sudo ip link set can1 up type can bitrate 500000 dbitrate 1000000 berr-reporting on fd on
2-3 Check can interface
$ ifconfig
can0: flags=193<UP,RUNNING,NOARP> mtu 72
unspec 00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00 txqueuelen 10 (UNSPEC)
RX packets 0 bytes 0 (0.0 B)
RX errors 0 dropped 0 overruns 0 frame 0
TX packets 0 bytes 0 (0.0 B)
TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0
device interrupt 51
can1: flags=193<UP,RUNNING,NOARP> mtu 72
unspec 00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00 txqueuelen 10 (UNSPEC)
RX packets 0 bytes 0 (0.0 B)
RX errors 0 dropped 0 overruns 0 frame 0
TX packets 0 bytes 0 (0.0 B)
TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0
device interrupt 52
3. Test
3-1 Run candump for all interface in background
$ candump -x any &
3-2 Run cansend from can0-TX, and you will see it receive the same data from can1-RX
$ cansend can0 123#abcdabcd
can1 RX - - 123 [4] AB CD AB CD
can0 TX - - 123 [4] AB CD AB CD