My mcp2515 can module could not send or receive datas on the Jetson Nano

Autonomous Machines Jetson & Embedded Systems Jetson Nano
1

Hi, please help me to send and recv data over mcp2515 module on Jetson Nano

Here are my steps:

  1. write system image into microSD card (Jetpack 4.5, download from https://developer.nvidia.com/jetson-nano-sd-card-image)

  2. Connect mcp2515 module to SPI_1
    INT – pin 31
    MOSI – pin 19
    MISO – pin 21
    SCK – pin 23
    CS – pin 24
    GND – pin 6
    VCC – pin 1(3.3V) or pin (2 5.0V)
    (I have to mcp2515 can module, one oscillator is 8MHz, another is 11.0592MHz, I use the 11.0592MHz controller to descpribe the problem follow)

  3. Use jetson-IO tool to select mcp device(/opt/nvidia/jetson-io/jetson-io.py–>select “MCP251x CAN Controller”)

  4. reboot

  5. generate dts file from “kernel_tegra210-p3448-0000-p3449-0000-b00-mcp251x-can-controller.dtb”

  6. modify dts file:
    a: modify frequency for can_clock
    clocks {

     can_clock {
 	phandle = <0x136>;
 	linux,phandle = <0x136>;
 	clock-accuracy = <0x64>;
 	clock-frequency = <0xA8C000>; // or double <0x1518000>
 	#clock-cells = <0x0>;
 	compatible = "fixed-clock";
 };

    };
    b: modify spi@7000d400 part(spi-max-frequency):
    spi@0 {
    interrupts = <0xc8 0x1>;
    interrupt-parent = <0x5b>;
    clocks = <0x136>;
    nvidia,rx-clk-tap-delay = <0x7>;
    nvidia,enable-hw-based-cs;
    compatible = “microchip,mcp2515”;
    reg = <0x0>;
    spi-max-frequency = <0x546000>; // or double <0xA8C000>

     	controller-data {
 		nvidia,tx-clk-tap-delay = <0x0>;
 		nvidia,cs-hold-clk-count = <0x1e>;
 		nvidia,cs-setup-clk-count = <0x1e>;
 		nvidia,enable-hw-based-cs;
 		nvidia,rx-clk-tap-delay = <0x1f>;
 	};
 };

  7. generate to “kernel_tegra210-p3448-0000-p3449-0000-b00-mcp251x-can-controller.dtb” for my dts file

  8. reboot

  9. load can driver:
    modprobe can
    modprobe can-raw
    modprobe can-bcm
    modprobe can-gw
    modprobe can-dev
    modprobe mttcan

  10. set up can0:
    ip link set can0 type can bitrate 100000
    ip link set up can0

  11. use candump and cansend to test on can0

2

My operation screenshort:

cansend_history
cansend_history1920×1080 451 KB

My DTS files:
extlinux.conf (1.2 KB) mcp-11.0592m.dts (329.4 KB) mcp-11.0592m_double.dts (329.4 KB)

3

My mcp2515 can module link:
https://wiki.diustou.com/MCP2515_CAN总线模块

another mcp2515 can module link(it work fine on raspberrypi):
https://wiki.diustou.com/RS485_CAN_HAT

5

Can anyone fix this?

6

Check this : Jetson nano and mcp2515 can module

8

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