I connected Xavier’s two CANs to USB CAN and tested the communication. I found that only one CAN could send and receive data normally. I replaced it. I tried repeatedly to find that CAN0 could not communicate. I used the replacement method to confirm that there was no problem with the CAN transceiver.CAN0 does not work.
I use the following command to turn on CAN.
sudo devmem2 0x0c303000 word 0x0000c400
sudo devmem2 0x0c303008 word 0x0000c458
sudo devmem2 0x0c303010 word 0x0000c400
sudo devmem2 0x0c303018 word 0x0000c400
sudo modprobe can
sudo modprobe can_raw
sudo modprobe mttcan
sudo ip link set can0 type can bitrate 500000 dbitrate 2000000 berr-reporting on fd on
sudo ip link set can1 type can bitrate 500000 dbitrate 2000000 berr-reporting on fd on
sudo ip link set up can0
sudo ip link set up can1
I use the following command to receive and send CAN messages.
sudo candump can0
sudo candump can1
sudo ip link set can0 type can bitrate 500000 dbitrate 2000000 berr-reporting on fd on
sudo ip link set can1 type can bitrate 500000 dbitrate 2000000 berr-reporting on fd on
Also please check that your CAN TX/RX signals are at 3.3V level. I see you are powering it off a 5V pin. Make sure that your tranceiver will output 3.3V if powered with 5V or else you might damage the Xavier.
I power my tranceiver with the 3.3V pin from the Xavier.
The logic analyzer shows that CAN0_DOUT has a level change only during reboot, and sends “cansend can0 123#1122334411223344” without any level change.
CAN1_DOUT has data output
