how to config jetson orin linux kernel can bus gpio device-tree-Go服务器开发

To configure Jetson Orin Linux kernel for CAN bus and GPIO device tree, follow these steps:

Download and install the latest version of JetPack SDK from the NVIDIA website.
Set up your development environment by opening a terminal window and navigating to the root directory of your Jetson Orin system.
Clone the Linux kernel source code repository by running the following command:

   git clone https://github.com/NVIDIA/linux.git

Configure the kernel build options by running the following command:

   make ARCH=arm64 O=build/jetson_orin_defconfig tegra_defconfig

Modify the device tree configuration file located at linux/arch/arm64/boot/dts/tegra194-jetson-xavier-nx-devkit.dts to add CAN bus and GPIO support. Add the following code snippet inside the gpio@2200000 node:

   can {
           pinctrl-names = "default";
           pinctrl-0 = <&can_pins>;
           status = "okay";

           can0: can@0 {
                   reg = <0>;
                   interrupts = <TEGRA194_MAIN_IRQ(EE, 0) IRQ_TYPE_LEVEL_HIGH>;
                   status = "okay";
           };
   };

   can_pins: can_pins {
           can0_pinmux {
                   nvidia,pins = "can0_tx", "can0_rx";
                   nvidia,function = "rsvd1", "rsvd1";
                   nvidia,pull = <TEGRA_PIN_PULL_DOWN>, <TEGRA_PIN_PULL_DOWN>;
                   nvidia,tristate = <TEGRA_PIN_DISABLE>, <TEGRA_PIN_ENABLE>;
           };
   };

Save and close the device tree configuration file.
Build the Linux kernel by running the following command:

   make ARCH=arm64 O=build Image tegra194-jetson-xavier-nx-devkit.dtb modules

Install the new kernel by copying the generated image and device tree blob to the boot partition of your Jetson Orin system:

   sudo cp build/Image /boot/Image
   sudo cp build/tegra194-jetson-xavier-nx-devkit.dtb /boot/tegra194-jetson-xavier-nx-devkit.dtb

Reboot your Jetson Orin system and verify that CAN bus and GPIO support have been added by running the ls /sys/class/gpio and ip link show can0 commands.
You can now use the echo command and file system interface to control the GPIOs on your Jetson Orin board, as well as communicate over the CAN bus using the can-utils package or other software.