Note1 : (Optional) Hardware time synchronization is recommended for universal time stamping. https://devtalk.nvidia.com/default/topic/1031778/faq/nvidia_drive_px2_time_sync_guide/
Note2 : Aurix CAN needs 120ohm termination.
By using Aurix-FW, DrivePXApp and EasyCan following the steps below
EASYCAN Testing (connect your device to a CAN interface, for example, CAN1/CANa)
Note: for Step 1 – 3, you need only to do once.
Step 1 : create a EB user on target
nvidia@nvidia:~$ sudo su -
root@nvidia:~# adduser eb
Adding user eb' ... Adding new group
eb’ (1001) …cd
Adding new user eb' (1001) with group
eb’ …
Creating home directory /home/eb' ... Copying files from
/etc/skel’ …
Enter new UNIX password: eb
Retype new UNIX password: eb
passwd: password updated successfully
Changing the user information for eb
Enter the new value, or press ENTER for the default
Full Name : eb
Room Number :
Work Phone :
Home Phone :
Other :
Is the information correct? [Y/n] Y
root@nvidia:~#
Step 2 : Copying DrivePXApp and EasyCan Config to target
root@nvidia:~# mkdir /etc/eb
Copy LINUX_LXTHREADSX86_DrivePxApp.elf to ‘/home/nvidia/’
Copy EasyCanConfigFile.conf to ‘/etc/eb/’
Copy DrivePxApp.conf to ‘/etc/eb/’
Step 3 : Edit the DrivePxApp.conf file. Accordingly (if you only test one target, skip the other)
On Tegra A :
cd /etc/eb
root@nvidia:/etc/eb# vi DrivePxApp.conf
AurixIP=10.42.0.146
TegraID=A
root@nvidia:/etc/eb#
On Tegra B :
cd /etc/eb
root@nvidia:/etc/eb# vi DrivePxApp.conf
AurixIP=10.42.0.146
TegraID=B
root@nvidia:/etc/eb#
Step 3.1 : Edit the EasyCanConfigFile.conf file. Accordingly if you’d like to change the message IDs of each CAN interface (if you only test one target, skip the other)
On Tegra A :
cd /etc/eb
root@nvidia:/etc/eb# vi EasyCanConfigFile.conf
…
root@nvidia:/etc/eb#
On Tegra B :
cd /etc/eb
root@nvidia:/etc/eb# vi EasyCanConfigFile.conf
…
root@nvidia:/etc/eb#
We created a sample script (create_sample_conf.sh) to generate 120 CAN IDs for CAN A. You can copy the script to /etc/eb and run it.
root@nvidia:/etc/eb# ./create_sample.conf.sh
Step 4 : Recieve transmitted messages on target
On Tegra (A and B): use LINUX_LXTHREADSX86_DrivePxApp.elf to check if the EasyCan config is received by Aurix
root@nvidia:/etc/eb# cd /home/nvidia/
root@nvidia:/home/nvidia# ./LINUX_LXTHREADSX86_DrivePxApp.elf
[you should see “shell>EasyCan: Received configuration [OK].” from aurix shell]
Step 4.1 : Each time you changed EasyCanConfigFile.conf file, you should reset aurix afterward
Shell> aurixreset
Step 5: Enter CTRL-C to stop DrivePxApp and enter the following command to start DriveWorks canbus logger
root@nvidia:/home/nvidia/driveworks/bin# ./sample_canbus_logger --driver=can.aurix --params=ip=10.42.0.146,bus=a