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update:j501 can usage #2066

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Jan 3, 2025
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update:j501 can usage #2066

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31 changes: 30 additions & 1 deletion docs/Edge/NVIDIA_Jetson/Carrier_Boards/J501/Hardware_Interfaces_Usage.md
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Expand Up @@ -444,12 +444,41 @@ Here we have used [USB to CAN Analyzer Adapter](https://www.seeedstudio.com/USB-

**Step2.** Some adapters also come with the necessary software for the PC in order to communicate with the CAN device. In our case, according to the adapter that we used, we have downloaded and installed the software which can be found [here](https://github.com/SeeedDocument/USB-CAN-Analyzer/tree/master/res/Program).

**Step3.** Open a terminal on the Jetson device and execute the following commands to configure and enable the CAN interface:
**Step3.** Initialize the CAN interface of Jetson.

Create a new file named **`can_init.sh`** in Jetson and write the following content:

```bash
#!/bin/bash

sudo gpioset gpiochip2 9=0
sudo gpioset gpiochip2 8=0

sudo busybox devmem 0x0c303018 w 0xc458
sudo busybox devmem 0x0c303010 w 0xc400
sudo busybox devmem 0x0c303008 w 0xc458
sudo busybox devmem 0x0c303000 w 0xc400

sudo modprobe can
sudo modprobe can_raw
sudo modprobe mttcan

sudo ip link set can0 down
sudo ip link set can1 down

sudo ip link set can0 type can bitrate 125000
sudo ip link set can1 type can bitrate 125000
sudo ip link set can0 up
sudo ip link set can1 up

```
Then, run the file we just created in the Jetson terminal window:

```bash
sudo apt-get install gpiod
cd <path to can_init.sh>
sudo chmod +x can_init.sh
./can_init.sh
```

**Step4.** Type ifconfig on the terminal and you will see the CAN interface in enabled.
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