Test Specific Setup

Note: Harness H1/H2 cables are not provided with the Drive AGX Orin Devkit and must be purchased separately. Additionally, prepare CAN loopback cable TS3 following the instructions.

The following sections describe how to set up the tests.

Connecting Harness Cables

  • Connect harness H1 to H1/CN2 port (see Image 1)
  • Connect harness H2 to H2/CN1 port (see Image 1)

Setting Up CAN Loopback

  • Connect CAN loopback connectors to H1/H2 harness as per image below:

Connector 1: (pluged into the P3 on harness 2)

Bridge Dongle(Dsub9 Male): Short pin 1 and 2, Short pin 7 and 8

Connector 2: (pluged into the P14 on Harness 1)

Termination dongle(Dsub9 Male): connect 120 ohm btw pin 1 and 8 and connect 120 ohm btw pin2 and 7

Connector 3: (connect the P12 - P13 on harness 2 AND connect the P4 of harness 1 to P11 of Harness 2)

x2 CAN cable(Male to Male): Connect pin 1-pin 1, pin 2-pin 2, pin 7-pin 7, pin 8-pin 8

CAN Loopback Cable TS3

For CAN loopback cable TS3, connect each DSUB 9 connector using the following guidelines and figures:
  1. Ensure that the wire is 3 inches long between DSUBs.
  2. Put the housing on each DSUB.
  3. Put a label on each DSUB 9 connector as shown in the following figure.

The diagrams of the pin connections in CAN loopback setup are illustrated below. A full list of pin assignments to the CAN interfaces from harness cables (H1 and H2) are in the Table 2-4 and Table 2-5 from DRIVE AGX Orin Mechanical and Installation Guide

CAN1<->CAN5 and CAN2<->CAN6 loopback for Linux TegraCAN:
  • CAN1: P4 - pins 2, 7
  • CAN2: P4 - pins 1, 8
  • CAN5: P11 - pins 2, 7
  • CAN6: P11 - pins 1, 8

CAN bridge: Short DB9 connector pin1 to pin2 and pin7 to pin8.

CAN5<->FSICAN1 and CAN4<->CAN6 loopback for FSICAN:
  • CAN5: P12 - pins 2, 7
  • CAN6: P12 - pins 1, 8
  • FSICAN1: P15 - pins 2, 7
  • CAN4: P13 - pins 1, 8

CAN terminator: Connect a 120-Ohm resistor between pin1 and pin8 as shown in the following figure: