CAN setup

CAN2 on the basboard is conneted internally to both FCU and Jetson module. The basics could be implemented from Nvidia user guide:

Controller Area Network (CAN) — Jetson Linux Developer Guide documentation

Nvdia Jetson official CAN setup guide

However, you could follow the below quick commands might make you able to loopback test the CAN connection between Jetson module and FCU on Jetson's terminal:

sudo modprobe mttcan
sudo ip link set can0 type can bitrate 500000 loopback on
sudo ip link set can0 up
candump can0 &
cansend can0 123#abcdabcd

The last command has to have the following output if can is running OK:

  can0  123   [4]  AB CD AB CD
  can0  123   [4]  AB CD AB CD