1. Jetson TX2开机自动挂载CAN模块

（1）在/etc/init.d/目录下创建can_load.sh脚本文件，内容如下：

#!/bin/sh
 
#命令
modprobe can      
modprobe can-raw   
modprobe can-bcm
modprobe can-gw  
modprobe can_dev
modprobe mttcan  
  
exit 0

（2）修改文件的权限：sudo chmod 755 can_load.sh；

（3）sudo update-rc.d can_load.sh defaults 80

（4）重启

2. 查看是否挂载成功

终端下输入lsmod，若出现下图红圈中的模块，则表示挂载成功

3. 查看是否有can口

因为linux中，can总线是作为socket呈现的，所以终端下输入：ifconfig -a

若出现下图的can0和can1，则表示可以使用can总线了

4. 安装python-can

pip install python-can

5. 简单发送/接收can报文

# import the library
import can

# create a bus instance
# many other interfaces are supported as well (see below)
bus = can.Bus(interface='socketcan',
              channel='can0',
              receive_own_messages=True)

# send a message
message = can.Message(arbitration_id=123, is_extended_id=True,
                      data=[0x11, 0x22, 0x33])
bus.send(message, timeout=0.2)

# iterate over received messages
for msg in bus:
    print("{X}: {}".format(msg.arbitration_id, msg.data))

# or use an asynchronous notifier
notifier = can.Notifier(bus, [can.Logger("recorded.log"), can.Printer()])