Jetson many CAN bus errors

Robotics & Edge Computing Jetson & Embedded Systems Jetson TX2
1

Hello there!

Faced problems when working with CAN BUS. There is TX2 to which the CAN Tranciever is connected (120 ohm available). There is a receiving device (not TX2). At the moment when I turn on TX2, “Error frames” appear in large numbers on the receiving side, the same situation when rebooting and when turning off TX2. What could be the problem?

It is connected correctly, because using the cansend command, you can send a message to the receiving device. Maybe I configured something incorrectly, is there a need to write something to the system kernel?

Also on this topic. There is also NVIDIA XAVIER AGX. There is a similar problem. There are no errors when turning on, but when XAVIER is turned off, 1-2 “Error frames” appear stably on the receiving device. Has anyone faced such problems?

Thanks!

3

Hi silaj,
Which jetpack BSP version you are using?

4

Installed JetPack 4.2.3 version

5

Hi silaj,
There is a clock issue in J4.2
So, I would recommend to switch to latest versions. Issue is fixed in J4.3 so it is also fine.
Let me know if you face issue with J4.3 also.

Thanks,
Shubhi

7

Hello! Unfortunately it didn’t solve my problem. Have any solves?

9

Hi silaj,
Have you tried J4.3 or J4.4 ? Is the issue reproducible on J4.3/J4.4?

10

This problem reproduced on J4.2.3, J4.3 and J4.4.

11

Hi silaj,
Which transceiver are you using? We could not reproduce the same issue on TX2 with JP >= 4.3

12

Hello, shgarg!

I use Waveshare CAN Board SN65HVD230

1350×1350 89 KB

13

Hi silaj,
Can you try changing transceiver to something like TJA1050?

14

Hello!

Unfortunately i have only Waveshare CAN Board SN65HVD230

Is there a solution to the problem?

Thanks!

15

You can refer to CAN doc to once check if the setup is fine: https://docs.nvidia.com/jetson/l4t/index.html#page/Tegra%20Linux%20Driver%20Package%20Development%20Guide/hw_setup_jetson_can.html#wwpID0ELHA

Mostly we saw the issues with transceiver but still check if your configurations are good.

16

Hello!

Perhaps the problem is not in the CAN setting on the Jetson. Because “error frames” go away from Jetson even when CAN is not enabled on Ubuntu.

For example, Jetson is connected to the end device via CAN Tranciever, Jetson has no CAN settings. We turn off Jetson and at this moment Jetson sends “error frames”. There is no difference whether CAN is configured for Jetson or not.

Thanks.

17

Hi silaj,
May I know if the problem is solved?

19

Hello! No, problem is not solved…

21

Hi Silaj,
Want to know more details on your problem:
You have not loaded CAN/MTTCAN or any other CAN driver on Jetson Just connected CAN from Jetson to other CAN device via transceiver. I am assuming since you have not loaded driver, you are not dumping any messages on Jetson (candump). When Jetson is OFF, and other device sends message, Jetson is throwing error frames? How is it possible when Jetson is off. How and when are you turning off jetson?

22

Hello!

Thanks for your answer.

What do you mean about CAN driver?

I do next steps:

    1. Connect with Waveshare CAN Board SN65HVD230 CAN on Jetson and second device.
    1. sudo modprobe can
      sudo modprobe can_raw
      sudo modprobe mttcan
      sudo ip link set can0 type can bitrate 500000
      sudo ip link set up can0
    1. cansend and candump is work.
    1. Reboot Jetson.
    1. At the moment when switching on (after rebooting) occurs on the end device (to the logger) “frame errors” appear.
23

CAN driver means loading mttcan using modprobe mttcan.
When Jetson reboots, you have to load driver again. The end device is continously sending frames when jetson reboots? When you see “frame errors” on the other device, please give me below details from Jetson:
$lsmod
$ip -d -s link show can0

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