# CAN setup

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

{% embed url="<https://docs.nvidia.com/jetson/archives/r35.4.1/DeveloperGuide/text/HR/ControllerAreaNetworkCan.html>" %}
Nvdia Jetson official CAN setup guide
{% endembed %}

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
```