Orin jp5.0.2 can-bus

[305248199]

HI,ALL.
My Orin can bus is similar to Orin CAN Bus can`t work web URL. Use an oscilloscope to measure Orin CAN0_TX has no level change and continues to pull high

thk

[JerryChang]

hello 305248199,

had you gone through Topic 221272 to setup CAN, and also test with loopback mode?
please share your steps and test results. thanks

[305248199]

yes, steps:

1，modify Kernel DTB
mttcan@c310000 {
status = “okay”;
};
mttcan@c320000 {
status = “okay”;
};
2，modify t186ref/BCT/tegra234-mb1-bct-pinmux-p3701-0000-a04.dtsi
can0_dout_paa0 {
nvidia,pins = “can0_dout_paa0”;
nvidia,function = “can0”;
nvidia,pull = <TEGRA_PIN_PULL_NONE>;
nvidia,tristate = <TEGRA_PIN_DISABLE>;
nvidia,enable-input = <TEGRA_PIN_DISABLE>;
};

                    can0_din_paa1 {
                            nvidia,pins = "can0_din_paa1";
                            nvidia,function = "can0";
                            nvidia,pull = <TEGRA_PIN_PULL_UP>;
                            nvidia,tristate = <TEGRA_PIN_ENABLE>;
                            nvidia,enable-input = <TEGRA_PIN_ENABLE>;
                    };

                    can1_dout_paa2 {
                            nvidia,pins = "can1_dout_paa2";
                            nvidia,function = "can1";
                            nvidia,pull = <TEGRA_PIN_PULL_NONE>;
                            nvidia,tristate = <TEGRA_PIN_DISABLE>;
                            nvidia,enable-input = <TEGRA_PIN_DISABLE>;
                    };

                    can1_din_paa3 {
                            nvidia,pins = "can1_din_paa3";
                            nvidia,function = "can1";
                            nvidia,pull = <TEGRA_PIN_PULL_UP>;
                            nvidia,tristate = <TEGRA_PIN_ENABLE>;
                            nvidia,enable-input = <TEGRA_PIN_ENABLE>;
                    };

3,load kernel module ko
sudo modprobe can
sudo modprobe can_raw
sudo modprobe mttcan

4,configure can-bus
sudo ip link set can0 up type can bitrate 500000 dbitrate 1000000 berr-reporting on fd on
sudo ip link set up can0 mtu 72
sudo ifconfig can0 txqueuelen 1000

sudo ip link set can1 up type can bitrate 500000 dbitrate 1000000 berr-reporting on fd on
sudo ip link set up can1 mtu 72
sudo ifconfig can1 txqueuelen 1000

5, open can-bus interface
sudo ip link set up can0

cangen -L 8 can0 -p 1000 &
cangen -L 8 can1 -p 1000 &

6, oscilloscope to measure Orin CAN0_TX

[305248199]

Use loopback mode, OK

[305248199]

canX_din pin ，I’m configured to pull up. I don’t know if this is the problem

nvidia,pull = <TEGRA_PIN_PULL_UP>;

[305248199]

The problem remains

[JerryChang]

could you please also refer to Controller Area Network (CAN) for instructions and also debug approaches.

[305248199]

sudo busybox devmem 0x0c303018 w 0x458
sudo busybox devmem 0x0c303010 w 0x400

sudo busybox devmem 0x0c303008 w 0x458
sudo busybox devmem 0x0c303000 w 0x400

Do you want to say that you can use these commands to configure the pin?
The problem remains！

[305248199]

Sometimes configuration will prompt:
[ 7126.416194] mttcan c310000.mttcan can0: Bit0 Error Detected
[ 7126.422000] mttcan c310000.mttcan can0: IR 0x8010000 PSR 0x71d
[ 7126.428041] mttcan c310000.mttcan can0: entered error warning state

$ cansend can1 123#abcdabcd
[ 7780.754333] mttcan c320000.mttcan can1: Bit0 Error Detected
[ 7780.760190] mttcan c320000.mttcan can1: IR 0x8010000 PSR 0x71d
[ 7780.766240] mttcan c320000.mttcan can1: entered error warning state
[ 7780.772701] mttcan c320000.mttcan can1: entered error passive state
[ 7780.779171] mttcan c320000.mttcan can1: entered bus off state
[ 7780.785100] mttcan c320000.mttcan can1: Bit0 Error Detected
[ 7780.790853] mttcan c320000.mttcan can1: IR 0xb800000 PSR 0x7e5

[305248199]

Does Orin’s E59 GPIO06 CAN0_STB pin need to be connected? It’s in the air now

[305248199]

$cat /sys/kernel/debug/bpmp/debug/clk/can1/parent
pll_aon

$cat /sys/kernel/debug/bpmp/debug/clk/can0/pto_counter
199976960

[305248199]

We use CA-IS3050G transceiver

[zhiyuan.song]

You can try WaveShare SN65HVD230 CAN board transceiver。

[305248199]

https://docs.nvidia.com/jetson/archives/r35.1/DeveloperGuide/text/HR/ControllerAreaNetworkCan.html

Follow the linked document:
按照链接文档操作：

1，
sudo busybox devmem 0x0c303018 w 0x458
sudo busybox devmem 0x0c303010 w 0x400

sudo busybox devmem 0x0c303008 w 0x458
sudo busybox devmem 0x0c303000 w 0x400
2，
sudo modprobe can
sudo modprobe can_raw
sudo modprobe mttcan

3，
sudo sh -c ‘echo 0x600 > /sys/devices/platform/c310000.mttcan/net/can1/tdc_offset’
sudo sh -c ‘echo 0x600 > /sys/devices/platform/c320000.mttcan/net/can2/tdc_offset’

4，
$ 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

5，
candump -x any &

6，
cansend can0 123##1abcdabcd

Oscilloscope has no waveform
示波器没有波形

[JerryChang]

hello 305248199,

could you please share the pin connections, please also refer to the diagram for correct connection.

[305248199]

can transceiver sch

orin_can_sch

[305248199]

Orin CAN picky transceiver?

[zhiyuan.song]

我是用了NV推荐的这个收发器，CAN就可以发送数据了。
I am using the transceiver recommended by NV, CAN module can send data.

[305248199]

谢谢！
thank you!