Jetson/AGX Xavier CAN通讯测试

Enable CAN
Install CAN modules
By default, CAN is compiled as module. In this case, run below command on board to install modules.

 $ sudo modprobe can
 $ sudo modprobe can-raw
 $ sudo modprobe can-dev
 $ sudo modprobe mttcan

Set CAN
Now, two CAN instances are initialized: can0, can1. Choose can0 as an example.

Before setting CAN, run below command to make sure CAN is down.

 $ sudo ifconfig can0 down

Set CAN bit rate (in this case 1000000) and bring CAN up.

 $ sudo ip link set can0 up type can bitrate 1000000

Now, can0 is ready to use.
To check the interface statistics

ip -details -statistics link show can0 
ip -details -statistics link show can1

CAN interface settings for both the controllers

ip link set can0 type can bitrate 500000 dbitrate 2000000 berr-reporting on fd on 
ip link set up can0 
ip link set can1 type can bitrate 500000 dbitrate 2000000 berr-reporting on fd on 
ip link set up can1

Install can-utils

sudo apt-get install can-utils

Send CAN Message
Below command can send CAN message:

 $ cansend can0 123#abcdabcd

Below command can generate random CAN messages:

 $ cangen -v can0

Receive CAN Message
Below command can dump messages received by can0:

 $ candump can0