Hi, I am attempting to setup CAN communication between Hitec CAN enabled Servos and Jetson Orin Nano through the J17 pins and a WaveShare SN65HVD230 transceiver. I followed the instructions on CAN Setup Guide and got the loopback test working. Unfortunately I am unable to communicate with my motors and need help.
System:
Package: nvidia-jetpack
Version: 6.2.1+b38
Priority: standard
Hi aayush4,
It seems you are using Orin Nano as your Jetpack release is 6.2.1(r36.4.4).
I’ve moved your topic to the correct category for Orin Nano.
Are you using the devkit or custom board for Orin Nano?
Please share the block diagram of your connection and the commands you’ve run to setup them.
I am using the “NVIDIA Jetson Orin Nano Engineering Reference Developer Kit Super”
Block Diagram:
I have attached the steps i took to setup CAN and the script I am using to control my Servo.
CAN Setup.pdf (88.6 KB)
hitec_servo_test.txt (2.3 KB)
It seems you’ve verified loopback test for CAN so that the pinnux and the device tree configurations should be fine.
I’m not clear about your custom python script.
As your connections look good to me, could you also check if adding sjw 4 as following can help for your case to communicate with your motor?
Jetson AGX Orin Dev kit CAN not working - #7 by KevinFFF
You can also get a scope to measure if there’s the signal when you send the data from Orin Nano to your motor.
Ok. I can try these. Are there any other CAN enabled motors that you might be aware of that have worked with the orin nano in the past?
Since we don’t have a CAN-enabled motor to verify this locally, I can only rely on my experience. Some users in online forums have successfully enabled them by configuring a different sjw value, so it might be worth a try.
Hi @KevinFFF Thanks for your reply. I am currently in contact with people at Hitec as well. I will try your suggestions and update the status of this issue once resolved.
Is this still an issue to support? Any result can be shared?
Hi @kayccc I apologize for not updating the status. We were able to resolve the issue. Our setup as discussed earlier was correct. The problem was the CAN message format being incorrect. We used the logs of the software shared by Hitec for their motor calibration and used the messages sent out by their software as a key. We were then able to format our commands correctly for our use.
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