Building vxcan (virtual CAN tunnel) kernel module/driver for nvidia jetson SBC

readme.md

Based on:
https://www.lagerdata.com/articles/forwarding-can-bus-traffic-to-a-docker-container-using-vxcan-on-raspberry-pi

To get started:

mkdir vxcan-driver && cd vxcan-driver
export KERNEL="<your kernel version>"  # "5.10" for Xavier NX, "5.15" for Orin NX
wget https://raw.githubusercontent.com/torvalds/linux/v$KERNEL/drivers/net/can/vxcan.c
# wget or copy-paste Makefile, build.sh, test.sh from this gist
chmod +x build.sh && ./build.sh
chmod +x test.sh && ./test.sh

build.sh

#!/bin/bash
set -xe

make
sudo chown root:root vxcan.ko
sudo chmod 0644 vxcan.ko
sudo mv vxcan.ko /lib/modules/$(uname -r)/kernel/net/can/
sudo depmod -A
sudo modprobe vxcan

Makefile

obj-m += vxcan.o

all:
	make -C /lib/modules/$(shell uname -r)/build M=$(PWD) modules
clean:
	make -C /lib/modules/$(shell uname -r)/build M=$(PWD) clean

test.sh

#!/bin/bash
set -xe

sudo ip link add vxcan0 type vxcan peer name vxcan1
sudo ip link set vxcan0 up
sudo ip link set vxcan1 up

(
  trap 'kill 0' SIGINT; \
  candump vxcan0 -n 1 -T 1000 & sleep 0.1 & \
  cansend vxcan1 "123#abcd" & wait \
)