Question about Connecting CAN0 and CAN1 to Different Networks on Jetson AGX Orin

[RUGE]

Hello Nvidia Engineers,

I have a question regarding the Jetson AGX Orin. It has two CANFD channels, and I need to connect CAN0 to a standard CAN network (via a CAN transceiver) and CAN1 to a CANFD network (via a CANFD transceiver). Is this configuration supported?

[carolyuu]

*** Please note that this reply is generated by LLM automatically ***

Thank you for reaching out to us, NVIDIA Engineers. I’d be happy to help you with your question regarding the Jetson AGX Orin.

The Jetson AGX Orin does indeed have two CANFD channels, which is a great feature for applications that require multiple CAN interfaces. However, I need to clarify a few things to ensure that your configuration is supported.

Firstly, the Jetson AGX Orin has two CANFD controllers, which are connected to the CAN0 and CAN1 transceivers. These transceivers are not built-in, but rather external components that need to be connected to the Jetson AGX Orin’s CANFD pins.

Regarding your configuration, you want to connect CAN0 to a standard CAN network (via a CAN transceiver) and CAN1 to a CANFD network (via a CANFD transceiver). This configuration is theoretically possible, but there are a few things to consider:

1. CANFD transceiver compatibility: You’ll need to ensure that the CANFD transceiver you choose is compatible with the Jetson AGX Orin’s CANFD controller. The transceiver should support the CANFD protocol and be able to handle the data rates and timings required by your application.
2. CAN transceiver compatibility: Similarly, you’ll need to ensure that the CAN transceiver you choose for CAN0 is compatible with the Jetson AGX Orin’s CAN controller. The transceiver should support the standard CAN protocol and be able to handle the data rates and timings required by your application.
3. Software support: You’ll need to ensure that the Jetson AGX Orin’s software stack supports the configuration you’re proposing. The mttcan driver, which is the CAN driver for the Jetson AGX Orin, should be able to handle the two CANFD channels and the different transceivers.

In terms of software support, the mttcan driver does support multiple CAN interfaces, but it’s not explicitly stated in the documentation whether it supports a mixed configuration of standard CAN and CANFD networks. However, the driver is open-source, so you can modify it to support your specific use case if needed.

To summarize, your configuration is theoretically possible, but you’ll need to ensure that the transceivers you choose are compatible with the Jetson AGX Orin’s CANFD and CAN controllers, and that the software stack supports your specific use case.

If you’re unsure about any of these aspects, I recommend consulting the Jetson AGX Orin’s documentation and seeking guidance from NVIDIA’s technical support team or the Jetson AGX Orin’s community forums.

Additionally, you may want to consider using a USB CAN interface, such as the MCP2515, which is a popular and widely-supported CAN interface that can be used with the Jetson AGX Orin. This could simplify your setup and reduce the complexity of your configuration.

I hope this helps! Let me know if you have any further questions or concerns.

[KevinFFF]

Hi RUGE,

Are you using the devkit or custom board for AGX Orin?
What’s the Jetpack version in use?

This requirement is feasible since the two CAN interfaces are independent.

[RUGE]

Thank you for your reply.

This design will be applied to a custom board, although I also have the devkit for verification purposes. Since the software is based on ROS1, the Jetpack version we can use is Jetson Linux 35.x.