- Nvidia Jetson TX2 Developer Board
- Flash Jetson TX2 with Jetpack 3.2
- Jumper wires
- 120 ohm resistor (optional)
- Transceivers (up to 2 for 2 CAN bus ports). I used this Waveshare transceiver
II. How to wire
In Jetson TX2 dev board, it comes with 2 CAN controllers. So one can have 2 different CAN ports by using 2 transceivers connecting to these CAN controllers. This article shows how to enable both CAN ports and let them communicate with each other.
Locate J26 / GPIO Expansion Header and its pin. You can find the spec of these pins on the Jetson TX2 Dev Kit Carrier Board Specification document at https://developer.nvidia.com/embedded/downloads , all the documents are free to download but require a login.
=== Connecting Jetson & Transceiver ===
Pin 5 <-> CAN RX
Pin 7 <-> CAN TX
GND <-> GND
3.3v <-> 3.3
Pin 15 <-> CAN RX
Pin 17 <-> CAN TX
GND <-> GND
3.3v <-> 3.3
If using Jetpack 3.2 or later, you won’t have to worry about enabling header for mttcan, this seems like a missing thing from earlier Jetpack version.
In a terminal, type following commands to setup CAN channels and their bitrate. The bitrate here is 500K but one can change to other numbers per your need. I did test up to 1 million bit-rate.
sudo modprobe can sudo modprobe can_raw sudo modprobe mttcan sudo ip link set can0 type can bitrate 500000 sudo ip link set up can0 sudo ip link set can1 type can bitrate 500000 sudo ip link set up can1
In another terminal, check if the CAN bus are set up
Install can-ultils to send and receive CAN message over terminal
sudo apt-get install can-utils
III. Example send & receive can message
For example, you connect both can0 to can1 together. You want to send a sample message from can0 and receive from can1.
In one terminal, run:
In another terminal, run, for example:
cansend can0 01a#11223344AABBCCDD
If the message was sent successfully, you will see the message on can1’s terminal
IV. Possible Error
The transceiver do not come with a terminal resistor (120 ohm) built-in. If the other CAN device you connect to also does not have the terminal resistor, you need to insert one into the system to get the message flow through. Otherwise, all messages would go into error state.
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