Apex Dual Orin CAN Usage#
Hardware Connection#
Function Label
Pin Label
Hardware Specification#
Item |
Specification |
|---|---|
Isolation voltage |
3000V |
Isolation Pin |
CAN_L, CAN_H，CGND |
Functions and device nodes#
Function |
Description |
Device Node |
|---|---|---|
M_CAN0 |
Master Orin CAN0 (isolated) |
can0 |
M_CAN1 |
Master Orin CAN1 (isolated) |
can1 |
S_CAN0 |
Master Orin CAN0 (isolated) |
can0 |
S_CAN1 |
Master Orin CAN1 (isolated) |
can1 |
Use Port 1, connect to PC.
Use Port 2, connect to CAN corresponding CAN signal.
CAN Configuration#
Preparation#
PC
#Install
sudo apt-get install can-utils -y
#After connecting the USB to CAN (PCAN) device to a PC, execute the command and the output result will be the name of the CAN interface.
ls /sys/class/net/ | grep -E 'can[0-9]+' | sort -V | tail -n 1
#Configuration
sudo ip link set can0 up type can bitrate 500000 sjw 4
Receive-Send test#
The device sends data and the PC receives it.
Device
#Execute command to send data.
sudo cansend can0 123#abcdabcd
PC
#Execute command to receive data.
sudo candump can0
#If the following message is printed, it indicates that the data has been successfully sent from the device side.
can0 123 [4] AB CD AB CD
PC sends data and the device receives it.
PC
#Execute command to send data.
sudo cansend can0 123#abcdabcd
Device
#Execute command to receive data.
sudo candump can0
#If the following message is printed, it indicates that the data has been successfully sent from the PC side.
can0 123 [4] AB CD AB CD
Troubleshooting#
When you are unable to receive data, experiencing packet loss, or communication interruptions, you can use the following command to view the status information of can0.
ip -d -s link show can0
# Check if 1 is the same as the previously set value.
# Check if 2 and 3 are both 0.
# If 1, 2, and 3 are all fine, check the hardware connection.
# If there are issues and you cannot identify the problem, please contact technical support for further investigation.
