Please provide the following info (check/uncheck the boxes after creating this topic): Software Version
DRIVE OS Linux 5.2.6
DRIVE OS Linux 5.2.6 and DriveWorks 4.0
DRIVE OS Linux 5.2.0
DRIVE OS Linux 5.2.0 and DriveWorks 3.5
NVIDIA DRIVE™ Software 10.0 (Linux)
NVIDIA DRIVE™ Software 9.0 (Linux)
other DRIVE OS version
other
I’m trying to interface the radar (Continental ARS430RDI) with an Nvidia Drive AGX Pegasus. The radar was connected via GMSL cable to the AGX (Pin 1: BR-, Pin 5: BR+ of the radar). Power is provided via a benchtop power supply set to 12V. The cable interfaces via HSD port of the AGX with pins #1 and #3 as you can see below.
I’ve confirmed that I’m seeing data packets with wireshark on a windows laptop (radar ip 192.168.3.33 and port 31122, dest. 239.192.22.10) when connecting through E3579 dongle converting BR to Ethernet. That being said, I wasn’t able to ping the radar once connected to the AGX. I’m trying to display data of the radar using radar_replay_sample (DriveWorks SDK Reference: Radar Replay Sample).
Have you encountered similar connectivity problems with the ARS430RDI before? What debugging steps have you tried?
I’ve followed those threads :
Dear @jean-gabriel.mercier,
Could you please all connection pictures and network file changes/commands you have used. Also, please share the ifconfig output.
Here’s my ifconfig output.
Pictures will follow (since i can only post one) of the radar harness (the upper twisted pair, pins 1 and 5, are going to the AGX, the left twisted pair is 12V and GND, finally the tapped leads are unused pins).
I’ve checked with Continental and they’ve confirmed the wiring.
I can confirm that I’m sseing packets in the configuration :
Radar – (BR+/-) → E3579 dongle – (Ethernet) → Windows Laptop.
Now I’m trying :
Radar – (BR+/-) → AGX
But I can’t see the radar on the network (I’m using port 3/4 1GbE/100MbE shown in the picture).
To my knowledge no material changes to the network file has been done.
Those are the commands i’ve tested:
sudo ifconfig eth0:900 192.168.3.81 || true
sudo route add -net 224.0.0.0 netmask 240.0.0.0 dev eth0:900 || true
sudo route add -net 192.168.3.0 netmask 255.255.255.0 dev eth0:900 || true
./sample_radar_replay --protocol=radar.socket --params=device= * CONTINENTAL_ARS430_RDI_V2,ip=192.168.3.33,port=31122
I’ve also tried with multicast-ip parameter with different combinations based on Network configuration for Conti ARS430 - #6 by SivaRamaKrishnaNV.
I’ve also tried:
sudo ip route add 192.168.3.33 via 192.168.3.81 dev eth0:900
and ensured ip forwarding was on. I made sure no firewall rules were blocking traffic on eth0:900.
We’re using Driveworks-4.0 and radar ARS430RDI_V2 with firmware 3.0.0.
I’ve tried every BR ports without any luck…
I’ve ran the replay of the data using protocol=radar.virtual which worked find as expected.
But when trying to visualize a live feed of the radar data using protocol=radar.socket, a window opens but closes immediately with the following error log.
Note that the example using radar.virtual says explicitely firmware 2.0.1 whereas the ARS430RDI_V2 we have is firmware 3.0.0 (confirmed by Continental).
Also, the routing table according to ip route show is:
default dev enp4s0 proto static scope link metric 2048
10.42.0.0/24 dev eth0:200 proto kernel scope link src 10.42.0.28
169.254.0.0/16 dev enp4s0 proto kernel scope link src 169.254.28.172
192.168.3.0/24 dev eth0 proto kernel scope link src 192.168.3.81
Dear @jean-gabriel.mercier,
radar does not response to ping request. Before connecting radar, Could you check connecting to laptop to confirm if the network settings are correct? Is there any router involved in the connection?
reboot the target and run the network settings again.
Also, Can you also try using sudo route add -net <RADAR IP> netmask 255.255.255.0 dev eth0:900 || true instead of above setting and let us know if it works?
Dear Siva,
It didn’t work either.
I’ve tried plugging the radar HSD connector to the E3579 dongle and use an ethernet cable to feed the information to the AGX via an RJ45 connecter on the rear pannel. It worked but the network interface through which i’m seeing the UDP packets from the radar is the enp4s0. Since the radar replay sample works with the eth0:900 interface, it doesn’t work the way i did it. I’ve tried to forward packets to the eth0 interface without any success.
Would it be possible to set up a meeting to discuss debugging steps? Or can you provide a way that we could test HSD ports individually to make sure our routing tables are ok?
I’ve seen your response from this thread about cameras that you can’t connect a camera to the HSD ports (Access to HSD connectors from Xavier A or Xavier B - #4 by jaime.santiagolopez). Would it be possible to plug a laptop through the E3579 dongle to the HSD connector 1|2 or 3|4 to test connection on the eth0 interface?
Dear Siva,
To provide additionnal context:
I used sudo ip addr add <239.192.22.10> dev eth0 autojoin to join automatically the multicast address on which the radar is supposed to broadcast information. (maddr add and ip route add don’t seem to work for some reason, see: Joining Multicast IP group).
I’ve been able to test that with a laptop and a script that writes to the same address and port as the radar is supposed to use and I was seeing packets using tcpdum.
The configuration was: windows laptop (ethernet) → E3579 dongle → Front pannel HSD 1|2.
I’ve recorded an acquisition with the radar (.pcap file) on an Orin NX in the configuration: radar → E3579 dongle → RJ45 port (ethernet). I can confirm from the headers of the messages that the addresses and ports I’m using are the correct ones.
(from pcap: src=192.168.3.33 dst=239.192.22.10 |<UDP sport=31122 dport=31122 ).
I’m wondering why I can confirm that i can listen through eth0 to the multicast group when using my PC but not the radar. And that from the other side, I can confirm that the radar writes to the proper addresses and is working.
** Important to note ** The radar capture and the laptop communication on the multicast group are both dependant on the usage of the E3579 dongle. No solution tried worked without this piece of equipment in the way. And the objective is to make it work by directly connecting the ARS430RDI_v2 → HSD port and communicate via BR automotive ethernet.
What’s happening inside the dongle, and why is it working acting like a “magic black box” in our tests?
The setup:
Radar → (HSD) → E3579 → (RJ45) → Back Panel Nvidia
Allows us to see the radar UDP packets on the enp4s0 interface. Radar Replay Sample with this configuration did not work. We tried forwarding packets to eth0 to use the built-in function Radar Replay Sample without any success.
Also, we though that the sensors shall be connected directly through HSD without converting to Ethernet via a dongle. Is it the case?
Hi Siva,
Do we have an update on the matter?
Also, from your documentation, the E3579 dongle supports both 100Base-T1 and BroadR-Reach automotive ethernet.
The radar uses BroadR-Reach. We’ve read that “100Base-T1 specification has some differences in the protocol timing for wakeup commands to make those periods shorter”. Are the HSD port supposed to natively read both type of automotive ethernet or some parameter should be set within the AGX to specify we’re using BroadR-Reach?
Thank you.
