hardware

Hardware Setup Instructions

Jetson USB CAN Kernel

cd jetson-kernel-builder
./jetson-kernel-builder.sh --module-file can_modules.txt

Jetson PVA

Note: Need Jetpack 6.2 (r36.4)

# Add Jetson public APT repository
sudo apt-get update
sudo apt-get install software-properties-common
sudo apt-key adv --fetch-key https://repo.download.nvidia.com/jetson/jetson-ota-public.asc
sudo add-apt-repository 'deb https://repo.download.nvidia.com/jetson/common r36.4 main'
sudo apt-get update
sudo apt-get install -y pva-allow-2

Auto renaming can bus

Create link file

10-can_<side>.link

Link file should specify the property to look for to register the name.

For example: Canable GS USB has unique ID_SERIAL

[Match]
Driver=gs_usb
Property=ID_SERIAL=canable.io_canable2_gs_usb_00700042594B501320353437 

[Link]
Name=can_left

To find property

udevadm info /sys/class/net/<interface>

For example

pair@GTW-ONX16-ubuntu:~$ udevadm info /sys/class/net/can1
P: /devices/platform/bus@0/3610000.usb/usb1/1-2/1-2.2/1-2.2:1.0/net/can1
L: 0
E: DEVPATH=/devices/platform/bus@0/3610000.usb/usb1/1-2/1-2.2/1-2.2:1.0/net/can1
E: INTERFACE=can1
E: IFINDEX=10
E: SUBSYSTEM=net
E: USEC_INITIALIZED=256166538
E: ID_MM_CANDIDATE=1
E: ID_VENDOR=canable.io
E: ID_VENDOR_ENC=canable.io
E: ID_VENDOR_ID=1d50
E: ID_MODEL=canable2_gs_usb
E: ID_MODEL_ENC=canable2\x20gs_usb
E: ID_MODEL_ID=606f
E: ID_REVISION=0000
E: ID_SERIAL=canable.io_canable2_gs_usb_0044002C594E501820313332
E: ID_SERIAL_SHORT=0044002C594E501820313332
E: ID_TYPE=generic
E: ID_BUS=usb
E: ID_USB_INTERFACES=:ffffff:fe0101:
E: ID_USB_INTERFACE_NUM=00
E: ID_USB_DRIVER=gs_usb
E: ID_VENDOR_FROM_DATABASE=OpenMoko, Inc.
E: ID_MODEL_FROM_DATABASE=Geschwister Schneider CAN adapter
E: ID_PATH=platform-3610000.usb-usb-0:2.2:1.0
E: ID_PATH_TAG=platform-3610000_usb-usb-0_2_2_1_0
E: ID_NET_DRIVER=gs_usb
E: ID_NET_LINK_FILE=/usr/lib/systemd/network/73-usb-net-by-mac.link
E: ID_NET_NAME=can1
E: SYSTEMD_ALIAS=/sys/subsystem/net/devices/can1
E: TAGS=:systemd:
E: CURRENT_TAGS=:systemd:

Adding link files to systemd network

sudo cp 10-can_left.link /etc/systemd/network/
sudo chmod 644 /etc/systemd/network/10-can_left.link

sudo cp 10-can_right.link /etc/systemd/network/
sudo chmod 644 /etc/systemd/network/10-can_right.link

sudo systemctl restart systemd-udevd
sudo systemctl restart systemd-networkd