Use kvaser on xavier

Autonomous Vehicles DRIVE AGX Xavier DRIVE AGX Xavier General
1

Due to the limit of can channels on xavier, I need to use kvaser on xavier. My kvaser type is “Kvaser USBcan Light 4xHS”, which is not in kernel_src/kernel/kernel-4.4/drivers/net/can/usb/Kconfig. So I followed the below link to update kvsaser_usb.ko.

https://devtalk.nvidia.com/default/topic/1044805/jetson-tx2/need-kvaser-driver-that-is-not-available-in-latest-source-kernel/post/5365601/#5365601

When I ran “make”, it said “No rule to make target ‘modules’”. Looks like it is due to miss the kernel header files. My kernel version is 4.14.102-rt53-tegra. Can anyone tell me how to address this issue?

Here is my make file:
obj-m += kvaser_usb.o
all:
make -C /lib/modules/$(shell uname -r)/build M=$(PWD) modules

clean:
make -C /lib/modules/$(shell uname -r)/build M=$(PWD) clean

Many thanks!

2

Hi Phil.Chen,

In your https://devtalk.nvidia.com/default/topic/1070277/-lib-modules-4-14-102-rt53-tegra-build-no-such-file-or-directory/, we discussed about DRIVE Software kernel source availability. So if you are still not able to install kvaser drivers, I would suggest you to get the support from kvaser or you can do internet search if any other kvaser users have relevant experience on this. Thanks!

3

Thank you Vick! It works.

4

Good to hear you fixing your problem!

If you can share in details how you fixed your issue and other developers may benefit from it, it will better. Thanks!

5

Sure thing.

  1. Download the corresponding Kvaser files.
    My Kvaser device is light 4xHS. So, need to use the Kvaser c file from this link
    can: kvaser_usb: Add support for Kvaser USB hydra family · torvalds/linux@aec5fb2 · GitHub. (Note, this is 2018 version, there is some compiling issue with the 2019 version).

  2. Follow the link provided in this discussion, replace the Kvaser file under /drive-oss-src/kernel/drivers/net/can/usb on the host.

  3. Follow the link provided in this discussion, compile the kernel on the host.

  4. Copy the new built Kvaser_usb.ko file to Xavier.

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