Environment

• Jetson TX2
• JetPack 3.1
• Auvidea J120-IMU
• J120 firmware (kernel and patches) v1.5

Setup

Using native CAN

$ sudo modprobe can
$ sudo modprobe can_raw
$ sudo modprobe mttcan
$ sudo ip link set up can0 type can bitrate 1000000 loopback on
$ ifconfig
can0      Link encap:UNSPEC  HWaddr 00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00  
          UP RUNNING NOARP  MTU:16  Metric:1
          RX packets:2 errors:0 dropped:0 overruns:0 frame:0
          TX packets:0 errors:0 dropped:0 overruns:0 carrier:0
          collisions:0 txqueuelen:10 
          RX bytes:16 (16.0 B)  TX bytes:0 (0.0 B)
          Interrupt:171 

Setup virtual can and check sending message.

$ sudo modprobe vcan
$ sudo ip link add dev vcan0 type vcan
$ ifconfig
vcan0     Link encap:UNSPEC  HWaddr 00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00  
          UP RUNNING NOARP  MTU:16  Metric:1
          RX packets:0 errors:0 dropped:0 overruns:0 frame:0
          TX packets:0 errors:0 dropped:0 overruns:0 carrier:0
          collisions:0 txqueuelen:1 
          RX bytes:0 (0.0 B)  TX bytes:0 (0.0 B)

Install can-utils.

$ sudo apt-get install can-utils
$ cansend vcan0 123#45

Open new terminal for receiving message.

$ candump vcan0
  vcan0  123   [1]  45