We aim to expand the CAN function on Thor via SPI, using the CH9431 chip. The circuit diagram for the test board is as follows: CH9431T-R0-1v0.pdf (68.8 KB) The test carrier board of this chip. Using ORIN NX in conjunction with our self-developed board test function works perfectly. When we conne…

I don’t see there’s any error/dropped CAN data from the result you shared. Please also check if the issue may be caused from CAN analyzer side.

[image] [T5000] SPI3 connect to TPM fail Jetson Thor Hi @pomelo_hsieh , Could you apply the following patch and check if it could help for your case? 0001-spi-fix-and-debug-for-SPI3-CS-issue-in-topic-363582.patch (7.1 KB) If not, please provide the full dmesg…

Hi chen.xi, What’s the Jetpack version in use? [image] chen.xi: The test carrier board of this chip. Using ORIN NX in conjunction with our self-developed board test function works perfectly. When we connected it to the T5000 module for testing, we found that the SPI driver failed to register …

[image] KevinFFF: What’s the Jetpack version in use? nvidia@tegra-ubuntu:~$ cat /etc/nv_tegra_release # R38 (release), REVISION: 4.0, GCID: 43443517, BOARD: generic, EABI: aarch64, DATE: Wed Dec 31 00:15:19 UTC 2025 # KERNEL_VARIANT: oot TARGET_USERSPACE_LIB_DIR=nvidia TARGET_USERSPACE_LIB_DI…

[image] KevinFFF: Can you share the block diagram of your connections and also the dmesg/device tree(as file) for further check? About dts: spi@810c590000 { status = "okay"; spi@0 { //compatible =…

[image] KevinFFF: Can you share the block diagram of your connections and also the dmesg/device tree(as file) for further check? [Connectioneffectdiagram]

Actual wiring [ec02206f63955ba0b8c9cc6f8dd7161d]

Thanks for your sharing. [image] chen.xi: we found that the SPI driver failed to register successfully. Could you also share the full dmesg before applying the change? [ 49.044901] ch9431 spi0.0: ch9431_hw_reset, ch9431 didn't enter in conf mode after reset [ 49.045116] ch9431 spi0.0: c…

[image] KevinFFF: Could you also share the full dmesg before applying the change? Log entry as follows: [ 82.410218] ch9431 spi0.0: ----plink----spi->max_speed_hz: 12000000 [ 82.410237] ch9431 spi0.0: ----plink----spi->mode: 3 [ 82.465465] ch9431 spi0.0: ch9431_hw_probe, CH9431_CTRL 0x…

[image] chen.xi: [ 106.578080] ch9431 spi0.0: ch9431_set_normal_mode, ret = -110, ch9431 didn't enter in normal mode! What’s the meaning for this error in custom ch9431 driver? Have you also checked with your vendor? [image] chen.xi: At present, it is not clear whether the problem is w…

[image] KevinFFF: What’s the meaning for this error in custom ch9431 driver? Have you also checked with your vendor? If the value read from the chip by SPI is incorrect, an error will be reported. [image] KevinFFF: I would strongly suggest using the LA or scope to check if the waveform …

SPI issue

Robotics & Edge Computing Jetson Systems Jetson Thor

KevinFFF May 21, 2026, 6:38am 15

Could you apply the following patch to check if it could help for your case?
If not, please provide the full dmesg and device tree after applying the patch.
0001-spi-debug-SPI-issue-for-Thor-with-r38.4.patch (6.9 KB)

[R38.4] T4000/5000 SPI TPM issue

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SPI issue

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