CAN communication - AD-EYE/AD-EYE_Core GitHub Wiki

Set CAN bus configuration on PX2

Cross-compilation setup: https://docs.nvidia.com/drive/driveworks-3.5/dwx_samples_building_V5L.html

DPX2 CAN ports mapping table

On NVIDIA DRIVE PX2 , CAN ports are mapped in this way:

  • can-5 -> can0 on Tegra A (CAN E)
  • can-6 -> can1 on Tegra B (CAN F)
  • can-1 -> channel A on Aurix
  • can-2 -> channel B on Aurix
  • can-3 -> channel C on Aurix
  • can-4 -> channel D on Aurix

Usage of CAN ports of drive px2

Setup guide

You can do this by following this link : https://forums.developer.nvidia.com/t/drivepx2-easycan-setup-guide/60271

To find these files :

  • LINUX_LXTHREADSX86_DrivePxApp.elf
  • EasyCanConfigFile.conf
  • DrivePxApp.conf

You can find in DPX2-P2379-EB-V4.02.02_release.zip at this path : ~/nvidia/nvidia_sdk/DRIVE_OS_5.0.10.3_SDK_with_DriveWorks_Linux_OS_PX2_AUTOCHAUFFEUR/DriveSDK/drive-t186ref-foundation/utils/scripts on Host PC.

Issues

If you're having trouble synchronizing the time between Aurix and Tegra, you can solve the problem by following this link : https://forums.developer.nvidia.com/t/how-to-set-aurix-time-on-px2/71172

Sending CAN messages

Sending random messages to CAN-E or CAN-F :

(On Tegra A)

  • sudo ip link set canX type can bitrate 500000 or can1 if you are on Tegra B
  • sudo ip link set up can0
  • cangen can0 (on another terminal)
  • candump can0

Send random messages to can bus A-D :

  • cd /usr/local/driveworks/bin/
  • sudo ./sample_canbus_logger --driver=can.aurix --params=ip=10.42.0.146,bus=a --hwtime=0 --send_i_understand_implications=1000

You can see specifications of this sample here :

https://docs.nvidia.com/drive/driveworks-4.0/dwx_canbus_logger_sample.html

Send a specific message to can bus A-D :

  • cd /usr/local/driveworks/bin/
  • sudo ./sample_canbus_cansend --driver=can.aurix --params=ip=10.42.0.146,bus=a --hwtime=0 --send_i_understand_implications=1000 --send_id=90 --data=0123456789ABCDEF

Send a can frame to can bus A-F :

  • From Home : ./cansend_function

Reading can messages :

Can messages can be read by using CANoe software on Windows.

Sending CAN messages from Aurix

(On host PC)

  • Connect to PX2 via USB 2.0 host hub
  • Use sudo minicom -D /dev/ttyUSB1 (USB1 for Aurix, USB2 for Tegra A, USB6 for Tegra B)
  • You can use cancyclic a on to generate cyclic frames on can bus A
  • You can use cansend a 0x50 0xffff0000 0xaaaa5555 to send a can frame on bus A with ID 0x50 (Aurix)

Different IDs to use for can bus A-F :

Pdu: Dpx_Aurix_Tx_ChnA_80T   node: a id: 0x00000050
Pdu: Dpx_TegraA_Tx_ChnA_112T node: a id: 0x00000070
Pdu: Dpx_TegraB_Tx_ChnA_144T node: a id: 0x00000090
Pdu: Dpx_Aurix_Tx_ChnB_81T   node: b id: 0x00000051
Pdu: Dpx_TegraA_Tx_ChnB_113T node: b id: 0x00000071
Pdu: Dpx_TegraB_Tx_ChnB_145T node: b id: 0x00000091
Pdu: Dpx_Aurix_Tx_ChnC_82T   node: c id: 0x00000052
Pdu: Dpx_TegraA_Tx_ChnC_114T node: c id: 0x00000072
Pdu: Dpx_TegraB_Tx_ChnC_146T node: c id: 0x00000092
Pdu: Dpx_Aurix_Tx_ChnD_83T   node: d id: 0x00000053
Pdu: Dpx_TegraA_Tx_ChnD_115T node: d id: 0x00000073
Pdu: Dpx_TegraB_Tx_ChnD_147T node: d id: 0x00000093
Pdu: Dpx_Aurix_Tx_ChnE_84T   node: e id: 0x00000054
Pdu: Dpx_TegraA_Tx_ChnE_116T node: e id: 0x00000074
Pdu: Dpx_TegraB_Tx_ChnE_148T node: e id: 0x00000094
Pdu: Dpx_Aurix_Tx_ChnF_85T   node: f id: 0x00000055
Pdu: Dpx_TegraA_Tx_ChnF_117T node: f id: 0x00000075
Pdu: Dpx_TegraB_Tx_ChnF_149T node: f id: 0x00000095

Reading messages :

To see if the messages are received, open CANoe on Windows PC, start the simulation and open the TRACE window.

CAN sender app

Description

This application allows a CAN frame to be sent from one of the two Tegra units and read out via CANoe on another Windows computer.

Prerequisites

For use this application , we need SDK Manager with a complete host and target deployed SDK version.(neccesary 120 GB of free disk space)

Installation

You can use this link for download it : ​https://developer.nvidia.com/drive/downloads#?tx=$product,drive_px2

The user guide : ​https://docs.nvidia.com/drive/archive/5.1.0.2L/sdkm/download-run-sdkm/index.html

After installation, launch it with sdkmanager --archivedversions

Follow this wiki to step 4 and skip the rest: https://github.com/AD-EYE/To_be_deleted_AD-EYE_Core-Docs-Tmp/blob/master/drive_px2_guides/2_Reset-DPX2.md

Instructions

(On Host PC)

Create a new file to send CAN frame :

  • Go to cd $HOME/ros2can/ros2can-master/cansend_app/src
  • Create a directory your_directory with your code and a CMakeList (ex : cansend_function) and adapt it
  • Add your sub-directory into the CMakeList.txt in $HOME/ros2can/ros2can-master/cansend_app

Instructions for compile :

Only cross-compilation is supported. Before building do prerequisite steps as described in Cross-Compiling for the NVIDIA DRIVE Platform (Linux)

Building your code :

  • Go to cd $HOME/ros2can/ros2can-master/cansend_app
  • Create a build folder and go into mkdir build
  • Execute cmake ..
  • Build with the following command : make install
  • You can find your executable file in $HOME/ros2can/ros2can-master/cansend_app/install/bin

(On Tegra)

Running the code :

  • Copy your executable file where you want and modify the permission with sudo chmod 777 your_executable
  • Run it with ./your_executable

If sending frames to can0 (e) or can1 (f), do

  • sudo ip link set can0 type can bitrate 500000
  • sudo ip link set up can0

Reading frames :

  • Start simulation
  • Frames sent will be displayed in Trace window