Used by Jetson AgX Orin canfd

Hardware connection

Reference resources :

• Controller Area Network (CAN)
• Jetson AGX Orin Developer Kit User Guide - Hardware Layout | NVIDIA Developer

The pins used are :

• CAN0: RX(29), TX(31)
• CAN1: RX(37), TX(33)
• GND(39)

Need to connect CANFD Transceiver and 120Ω Terminal resistance For normal use , Here, after receiving the transmitter, connect to CANFD Analyzer

The configuration script

Before Jetson Xavier Set up CANFD (Jetpack 4.6, Turn on pllaon)_weifengdq The blog of -CSDN Blog _canfd Sampling point setting It says that , pllaon Only affected Xavier and Xavier NX, Right now Orin No impact . CAN The pin is not configured as CAN, There are also several ways to modify :

• modify cfg file
• Use jetson-io To configure
• Use busybox To configure

Either method is ok , Take the last one as an example , Take two routes CANFD configure [email protected], [email protected]

#!/bin/sh

sudo busybox devmem 0x0c303000 32 0x0000C400
sudo busybox devmem 0x0c303008 32 0x0000C458
sudo busybox devmem 0x0c303010 32 0x0000C400
sudo busybox devmem 0x0c303018 32 0x0000C458

sudo modprobe can
sudo modprobe can_raw
sudo modprobe mttcan

sudo sh -c 'echo 0x600 > /sys/devices/platform/c310000.mttcan/net/can0/tdc_offset'
sudo sh -c 'echo 0x600 > /sys/devices/platform/c320000.mttcan/net/can1/tdc_offset'

sudo ip link set down can0
sudo ip link set can0 type can bitrate 500000 sample-point 0.8 dbitrate 5000000 dsample-point 0.8 berr-reporting on fd on restart-ms 100
sudo ip link set up can0 mtu 72
sudo ifconfig can0 txqueuelen 1000
# ip -s -d link show can0

sudo ip link set down can1
sudo ip link set can1 type can bitrate 500000 sample-point 0.8 dbitrate 5000000 dsample-point 0.8 berr-reporting on fd on restart-ms 100
sudo ip link set up can1 mtu 72
sudo ifconfig can1 txqueuelen 1000
# ip -s -d link show can1

Note that the above tdc_offset The path is different Jetson The inside is not necessarily fixed , Sure busybox and modprobe After the order is executed , use sudo find / -name tdc_offset Command to find the path . tdc_offset stay 2M The baud rate above must be set

After the configuration ifconfig to glance at , Then check

$ ip -s -d link show can0
8: can0: <NOARP,UP,LOWER_UP,ECHO> mtu 72 qdisc pfifo_fast state UP mode DEFAULT group default qlen 1000
    link/can  promiscuity 0 minmtu 0 maxmtu 0 
    can <BERR-REPORTING,FD> state ERROR-ACTIVE (berr-counter tx 0 rx 0) restart-ms 100 
          bitrate 500000 sample-point 0.800 
          tq 20 prop-seg 39 phase-seg1 40 phase-seg2 20 sjw 1
          mttcan: tseg1 2..255 tseg2 0..127 sjw 1..127 brp 1..511 brp-inc 1
          dbitrate 5000000 dsample-point 0.800 
          dtq 20 dprop-seg 3 dphase-seg1 4 dphase-seg2 2 dsjw 1
          mttcan: dtseg1 1..31 dtseg2 0..15 dsjw 1..15 dbrp 1..15 dbrp-inc 1
          clock 50000000 
          re-started bus-errors arbit-lost error-warn error-pass bus-off
          0          0          0          0          0          0         numtxqueues 1 numrxqueues 1 gso_max_size 65536 gso_max_segs 65535 
    RX: bytes  packets  errors  dropped overrun mcast   
    0          0        0       0       0       0       
    TX: bytes  packets  errors  dropped carrier collsns 
    0          0        0       0       0       0 

Transceiver test

Let's configure CANFD Analyzer

Here is the analyzer 5Mbps The sampling point is 75%, Fortunately, it does not affect the use :

• Orin Send standard frame cansend can0 123#11.22.33.44.55.66.77.88
• Orin Send extended frame cansend can0 12345678#11.22.33.44.55.66.77.88
• Orin send out CANFD, Don't drive BRS and ESI cansend can0 123##0.11.22.33.44.55.66.77.88
• Orin send out CANFD, open BRS cansend can0 123##1.11.22.33.44.55.66.77.88
• Orin send out CANFD, open ESI cansend can0 123##2.11.22.33.44.55.66.77.88
• Orin send out CANFD, open BRS and ESI cansend can0 123##3.11.22.33.44.55.66.77.88
• CANFD The analyzer sends 64 Bytes to Orin

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