Hi,
I have verified it on Jetson Nano Devkit and it worked fine to comunicate with other CAN devices.
I migerated it to Jetson NX Devkit, it can’t detect any other CAN devices and the USB-CAN analyzer can’t detect "2-Channel CAN-BUS(FD) Shield ".
Source code: git clone https://github.com/Seeed-Studio/seeed-linux-dtoverlays
tw@tw-nx:~$ ifconfig -a
can0: flags=128<NOARP> mtu 16
unspec 00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00 txqueuelen 10 (UNSPEC)
RX packets 0 bytes 0 (0.0 B)
RX errors 0 dropped 0 overruns 0 frame 0
TX packets 0 bytes 0 (0.0 B)
TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0
device interrupt 127
can1: flags=128<NOARP> mtu 16
unspec 00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00 txqueuelen 10 (UNSPEC)
RX packets 0 bytes 0 (0.0 B)
RX errors 0 dropped 0 overruns 0 frame 0
TX packets 0 bytes 0 (0.0 B)
TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0
device interrupt 129
sudo ip link set can0 up type can bitrate 1000000 dbitrate 8000000 restart-ms 1000 berr-reporting on fd on
sudo ip link set can1 up type can bitrate 1000000 dbitrate 8000000 restart-ms 1000 berr-reporting on fd on
sudo ifconfig can0 txqueuelen 65536
sudo ifconfig can1 txqueuelen 65536
The hardware is wired to can0 and can1 interface.
0_L <===> 1_L
0_H <===> 1_H
Open two terminal windows and enter the following commands in the Windows to test can fd protocol.
#send data
cangen can0 -mv
#dump data
candump can1
dmesg errors shows below:
[ 12 21 15:13:02 2020] IPv6: ADDRCONF(NETDEV_CHANGE): can0: link becomes ready
[ 12 21 15:13:03 2020] gpio tegra-gpio wake56 for gpio=195(Y:3)
[ 12 21 15:13:03 2020] IPv6: ADDRCONF(NETDEV_CHANGE): can1: link becomes ready
[ 12 21 15:13:09 2020] can: controller area network core (rev 20120528 abi 9)
[ 12 21 15:13:09 2020] NET: Registered protocol family 29
[ 12 21 15:13:09 2020] can: raw protocol (rev 20120528)
[ 12 21 15:13:23 2020] NOHZ: local_softirq_pending 08
[ 12 21 15:13:23 2020] nvgpu: 17000000.gv11b railgate_enable_store:297 [INFO] railgate is disabled.
[ 12 21 15:13:24 2020] NOHZ: local_softirq_pending 08
[ 12 21 15:13:24 2020] NOHZ: local_softirq_pending 08
[ 12 21 15:13:24 2020] NOHZ: local_softirq_pending 08
[ 12 21 15:13:24 2020] IPv6: ADDRCONF(NETDEV_CHANGE): can1: link becomes ready
[ 12 21 15:14:28 2020] NOHZ: local_softirq_pending 08
[ 12 21 15:14:28 2020] NOHZ: local_softirq_pending 08
[ 12 21 15:14:28 2020] NOHZ: local_softirq_pending 08
[ 12 21 15:14:28 2020] mcp25xxfd spi0.0 can0: CRC read error at address 0x001c (length=4, data=00 00 00 00, CRC=0x0000).
[ 12 21 15:14:28 2020] mcp25xxfd spi0.0 can0: regmap_bulk_read MCP25XXFD_REG_INT error
[ 12 21 15:14:28 2020] mcp25xxfd spi0.0 can0: IRQ handler returned -74 (intf=0x00000000).
[ 12 21 15:14:28 2020] mcp25xxfd spi0.0 can0: -------------------- register dump --------------------
[ 12 21 15:14:28 2020] OSC: osc(0x000)=0x00000460
[ 12 21 15:14:28 2020] SCLKRDY Synchronized SCLKDIV
[ 12 21 15:14:28 2020] OSCRDY x Clock Ready
[ 12 21 15:14:28 2020] PLLRDY PLL Ready
[ 12 21 15:14:28 2020] CLKODIV = 3 Clock Output Divisor
[ 12 21 15:14:28 2020] SCLKDIV System Clock Divisor
[ 12 21 15:14:28 2020] LPMEN Low Power Mode (LPM) Enable (MCP2518FD only)
[ 12 21 15:14:28 2020] OSCDIS Clock (Oscillator) Disable
[ 12 21 15:14:28 2020] PLLEN PLL Enable
[ 12 21 15:14:28 2020] CON: con(0x000)=0x04980760
[ 12 21 15:14:28 2020] TXBWS = 0x00 Transmit Bandwidth Sharing
[ 12 21 15:14:28 2020] ABAT Abort All Pending Transmissions
[ 12 21 15:14:28 2020] REQOP = 0x04 Request Operation Mode
[ 12 21 15:14:28 2020] OPMOD = 0x04 Operation Mode Status
[ 12 21 15:14:28 2020] TXQEN x Enable Transmit Queue
[ 12 21 15:14:28 2020] STEF x Store in Transmit Event FIFO
[ 12 21 15:14:28 2020] SERR2LOM Transition to Listen Only Mode on System Error
[ 12 21 15:14:28 2020] ESIGM Transmit ESI in Gateway Mode
[ 12 21 15:14:28 2020] RTXAT Restrict Retransmission Attempts
[ 12 21 15:14:28 2020] BRSDIS Bit Rate Switching Disable
[ 12 21 15:14:28 2020] BUSY CAN Module is Busy
[ 12 21 15:14:28 2020] WFT = 0x03 Selectable Wake-up Filter Time
[ 12 21 15:14:28 2020] WAKFIL x Enable CAN Bus Line Wake-up Filter
[ 12 21 15:14:28 2020] PXEDIS x Protocol Exception Event Detection Disabled
[ 12 21 15:14:28 2020] ISOCRCEN x Enable ISO CRC in CAN FD Frames
[ 12 21 15:14:28 2020] DNCNT = 0x00 Device Net Filter Bit Number
[ 12 21 15:14:28 2020] TBC: tbc(0x010)=0x00000000
[ 12 21 15:14:28 2020] VEC: vec(0x018)=0x40400040
[ 12 21 15:14:28 2020] rxcode: No Interrupt (0x40)
[ 12 21 15:14:28 2020] txcode: No Interrupt (0x40)
[ 12 21 15:14:28 2020] icode: No Interrupt (0x40)
[ 12 21 15:14:28 2020] INT: intf(0x01c)=0x00000000
[ 12 21 15:14:28 2020] IE IF IE & IF
[ 12 21 15:14:28 2020] IVMI Invalid Message Interrupt
[ 12 21 15:14:28 2020] WAKI Bus Wake Up Interrupt
[ 12 21 15:14:28 2020] CERRI CAN Bus Error Interrupt
[ 12 21 15:14:28 2020] SERRI System Error Interrupt
[ 12 21 15:14:28 2020] RXOVI Receive FIFO Overflow Interrupt
[ 12 21 15:14:28 2020] TXATI Transmit Attempt Interrupt
[ 12 21 15:14:28 2020] SPICRCI SPI CRC Error Interrupt
[ 12 21 15:14:28 2020] ECCI ECC Error Interrupt
[ 12 21 15:14:28 2020] TEFI Transmit Event FIFO Interrupt
[ 12 21 15:14:28 2020] MODI Mode Change Interrupt
[ 12 21 15:14:28 2020] TBCI Time Base Counter Interrupt
[ 12 21 15:14:28 2020] RXI Receive FIFO Interrupt
[ 12 21 15:14:28 2020] TXI Transmit FIFO Interrupt
[ 12 21 15:14:28 2020] RXIF: rxif(0x020)=0x00000000
[ 12 21 15:14:28 2020] Receive FIFO Interrupt Pending bits:
[ 12 21 15:14:28 2020] -none-
[ 12 21 15:14:28 2020] RXOVIF: rxovif(0x028)=0x00000000
[ 12 21 15:14:28 2020] Receive FIFO Overflow Interrupt Pending bits:
[ 12 21 15:14:28 2020] -none-
[ 12 21 15:14:28 2020] TXIF: txif(0x024)=0x00000000
[ 12 21 15:14:28 2020] Transmit FIFO Interrupt Pending bits:
[ 12 21 15:14:28 2020] -none-
[ 12 21 15:14:28 2020] TXATIF: txatif(0x02c)=0x00000000
[ 12 21 15:14:28 2020] Transmit FIFO Attempt Interrupt Pending bits:
[ 12 21 15:14:28 2020] -none-
[ 12 21 15:14:28 2020] TXREQ: txreq(0x030)=0x00000000
[ 12 21 15:14:28 2020] Message Send Request bits:
[ 12 21 15:14:28 2020] -none-
[ 12 21 15:14:28 2020] TREC: trec(0x034)=0x00200000
[ 12 21 15:14:28 2020] TXBO x Transmitter in Bus Off State
[ 12 21 15:14:28 2020] TXBP Transmitter in Error Passive State
[ 12 21 15:14:28 2020] RXBP Receiver in Error Passive State
[ 12 21 15:14:28 2020] TXWARN Transmitter in Error Warning State
[ 12 21 15:14:28 2020] RXWARN Receiver in Error Warning State
[ 12 21 15:14:28 2020] EWARN Transmitter or Receiver is in Error Warning State
[ 12 21 15:14:28 2020] TEC = 0 Transmit Error Counter
[ 12 21 15:14:28 2020] REC = 0 Receive Error Counter
[ 12 21 15:14:28 2020] BDIAG0: bdiag0(0x038)=0x00000000
[ 12 21 15:14:28 2020] DTERRCNT = 0 Data Bit Rate Transmit Error Counter
[ 12 21 15:14:28 2020] DRERRCNT = 0 Data Bit Rate Receive Error Counter
[ 12 21 15:14:28 2020] NTERRCNT = 0 Nominal Bit Rate Transmit Error Counter
[ 12 21 15:14:28 2020] NRERRCNT = 0 Nominal Bit Rate Receive Error Counter
[ 12 21 15:14:28 2020] BDIAG1: bdiag1(0x03c)=0x00000000
[ 12 21 15:14:28 2020] DLCMM DLC Mismatch
[ 12 21 15:14:28 2020] ESI ESI flag of a received CAN FD message was set
[ 12 21 15:14:28 2020] DCRCERR Data CRC Error
[ 12 21 15:14:28 2020] DSTUFERR Data Bit Stuffing Error
[ 12 21 15:14:28 2020] DFORMERR Data Format Error
[ 12 21 15:14:28 2020] DBIT1ERR Data BIT1 Error
[ 12 21 15:14:28 2020] DBIT0ERR Data BIT0 Error
[ 12 21 15:14:28 2020] TXBOERR Device went to bus-off (and auto-recovered)
[ 12 21 15:14:28 2020] NCRCERR CRC Error
[ 12 21 15:14:28 2020] NSTUFERR Bit Stuffing Error
[ 12 21 15:14:28 2020] NFORMERR Format Error
[ 12 21 15:14:28 2020] NACKERR Transmitted message was not acknowledged
[ 12 21 15:14:28 2020] NBIT1ERR Bit1 Error
[ 12 21 15:14:28 2020] NBIT0ERR Bit0 Error
[ 12 21 15:14:28 2020] EFMSGCNT = 0 Error Free Message Counter bits
[ 12 21 15:14:28 2020] -------------------- TEF --------------------
[ 12 21 15:14:28 2020] TEFCON: tefcon(0x040)=0x00000400
[ 12 21 15:14:28 2020] FSIZE = 0 FIFO Size
[ 12 21 15:14:28 2020] FRESET x FIFO Reset
[ 12 21 15:14:28 2020] UINC Increment Tail
[ 12 21 15:14:28 2020] TEFTSEN Transmit Event FIFO Time Stamp Enable
[ 12 21 15:14:28 2020] TEFOVIE Transmit Event FIFO Overflow Interrupt Enable
[ 12 21 15:14:28 2020] TEFFIE Transmit Event FIFO Full Interrupt Enable
[ 12 21 15:14:28 2020] TEFHIE Transmit Event FIFO Half Full Interrupt Enable
[ 12 21 15:14:28 2020] TEFNEIE Transmit Event FIFO Not Empty Interrupt Enable
[ 12 21 15:14:28 2020] TEFSTA: tefsta(0x044)=0x00000000
[ 12 21 15:14:28 2020] TEFOVIF Transmit Event FIFO Overflow Interrupt Flag
[ 12 21 15:14:28 2020] TEFFIF Transmit Event FIFO Full Interrupt Flag (0 = not full)
[ 12 21 15:14:28 2020] TEFHIF Transmit Event FIFO Half Full Interrupt Flag (0= < half full)
[ 12 21 15:14:28 2020] TEFNEIF Transmit Event FIFO Not Empty Interrupt Flag (0=empty)
[ 12 21 15:14:28 2020] TEFUA: tefua(0x048)=0x00000000
[ 12 21 15:14:28 2020] -------------------- TX_FIFO --------------------
[ 12 21 15:14:28 2020] FIFOCON: fifocon(0x05c)=0x00600400
[ 12 21 15:14:28 2020] PLSIZE = 0 Payload Size
[ 12 21 15:14:28 2020] FSIZE = 0 FIFO Size
[ 12 21 15:14:28 2020] TXAT = 3 Retransmission Attempts
[ 12 21 15:14:28 2020] TXPRI = 0 Message Transmit Priority
[ 12 21 15:14:28 2020] FRESET x FIFO Reset
[ 12 21 15:14:28 2020] TXREQ Message Send Request
[ 12 21 15:14:28 2020] UINC Increment Head/Tail
[ 12 21 15:14:28 2020] TXEN TX/RX FIFO Selection (0=RX, 1=TX)
[ 12 21 15:14:28 2020] RTREN Auto RTR Enable
[ 12 21 15:14:28 2020] RXTSEN Received Message Time Stamp Enable
[ 12 21 15:14:28 2020] TXATIE Transmit Attempts Exhausted Interrupt Enable
[ 12 21 15:14:28 2020] RXOVIE Overflow Interrupt Enable
[ 12 21 15:14:28 2020] TFERFFIE Transmit/Receive FIFO Empty/Full Interrupt Enable
[ 12 21 15:14:28 2020] TFHRFHIE Transmit/Receive FIFO Half Empty/Half Full Interrupt Enable
[ 12 21 15:14:28 2020] TFNRFNIE Transmit/Receive FIFO Not Full/Not Empty Interrupt Enable
[ 12 21 15:14:28 2020] FIFOSTA: fifosta(0x060)=0x00000000
[ 12 21 15:14:28 2020] FIFOCI = 0 FIFO Message Index
[ 12 21 15:14:28 2020] TXABT Message Aborted Status (1=aborted, 0=completed successfully)
[ 12 21 15:14:28 2020] TXLARB Message Lost Arbitration Status
[ 12 21 15:14:28 2020] TXERR Error Detected During Transmission
[ 12 21 15:14:28 2020] TXATIF Transmit Attempts Exhausted Interrupt Pending
[ 12 21 15:14:28 2020] RXOVIF Receive FIFO Overflow Interrupt Flag
[ 12 21 15:14:28 2020] TFERFFIF Transmit/Receive FIFO Empty/Full Interrupt Flag
[ 12 21 15:14:28 2020] TFHRFHIF Transmit/Receive FIFO Half Empty/Half Full Interrupt Flag
[ 12 21 15:14:28 2020] TFNRFNIF Transmit/Receive FIFO Not Full/Not Empty Interrupt Flag
[ 12 21 15:14:28 2020] FIFOUA: fifoua(0x064)=0x00000018
[ 12 21 15:14:28 2020] -------------------- RX_FIFO --------------------
[ 12 21 15:14:28 2020] FIFOCON: fifocon(0x068)=0x00600400
[ 12 21 15:14:28 2020] PLSIZE = 0 Payload Size
[ 12 21 15:14:28 2020] FSIZE = 0 FIFO Size
[ 12 21 15:14:28 2020] TXAT = 3 Retransmission Attempts
[ 12 21 15:14:28 2020] TXPRI = 0 Message Transmit Priority
[ 12 21 15:14:28 2020] FRESET x FIFO Reset
[ 12 21 15:14:28 2020] TXREQ Message Send Request
[ 12 21 15:14:28 2020] UINC Increment Head/Tail
[ 12 21 15:14:28 2020] TXEN TX/RX FIFO Selection (0=RX, 1=TX)
[ 12 21 15:14:28 2020] RTREN Auto RTR Enable
[ 12 21 15:14:28 2020] RXTSEN Received Message Time Stamp Enable
[ 12 21 15:14:28 2020] TXATIE Transmit Attempts Exhausted Interrupt Enable
[ 12 21 15:14:28 2020] RXOVIE Overflow Interrupt Enable
[ 12 21 15:14:28 2020] TFERFFIE Transmit/Receive FIFO Empty/Full Interrupt Enable
[ 12 21 15:14:28 2020] TFHRFHIE Transmit/Receive FIFO Half Empty/Half Full Interrupt Enable
[ 12 21 15:14:28 2020] TFNRFNIE Transmit/Receive FIFO Not Full/Not Empty Interrupt Enable
[ 12 21 15:14:28 2020] FIFOSTA: fifosta(0x06c)=0x00000000
[ 12 21 15:14:28 2020] FIFOCI = 0 FIFO Message Index
[ 12 21 15:14:28 2020] TXABT Message Aborted Status (1=aborted, 0=completed successfully)
[ 12 21 15:14:28 2020] TXLARB Message Lost Arbitration Status
[ 12 21 15:14:28 2020] TXERR Error Detected During Transmission
[ 12 21 15:14:28 2020] TXATIF Transmit Attempts Exhausted Interrupt Pending
[ 12 21 15:14:28 2020] RXOVIF Receive FIFO Overflow Interrupt Flag
[ 12 21 15:14:28 2020] TFERFFIF Transmit/Receive FIFO Empty/Full Interrupt Flag
[ 12 21 15:14:28 2020] TFHRFHIF Transmit/Receive FIFO Half Empty/Half Full Interrupt Flag
[ 12 21 15:14:28 2020] TFNRFNIF Transmit/Receive FIFO Not Full/Not Empty Interrupt Flag
[ 12 21 15:14:28 2020] FIFOUA: fifoua(0x070)=0x00000028
[ 12 21 15:14:28 2020] mcp25xxfd spi0.0 can0: ------------------------- end -------------------------