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BOM: PCAN-USB stays (detachability); onboard CAN on J17 noted as the alternative

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Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01DDwfd6Ki8UfG4hK6W5YpJz
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Mikkeli Matlock
2026-10-12 16:07:27 +09:00
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docs/BOM.md
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@@ -39,6 +39,9 @@ All ports are taken.
- The mainline kernel driver `peak_usb` is not compiled into the NVIDIA Tegra kernel (JetPack r36.4), so PEAK's proprietary driver is required. - The mainline kernel driver `peak_usb` is not compiled into the NVIDIA Tegra kernel (JetPack r36.4), so PEAK's proprietary driver is required.
- Must be built with `NET=NETDEV_SUPPORT` for standard SocketCAN tools (`candump`, `ip link`, etc.). - Must be built with `NET=NETDEV_SUPPORT` for standard SocketCAN tools (`candump`, `ip link`, etc.).
- The module lives at `/lib/modules/$(uname -r)/misc/pcan.ko` and is loaded via `modprobe pcan`. - The module lives at `/lib/modules/$(uname -r)/misc/pcan.ko` and is loaded via `modprobe pcan`.
- **Staying on USB (2026-10-12)** rather than moving to the onboard controller (optional header J17 + a 3.3 V transceiver): the USB cable
makes the car connection easy to detach and reattach, which a header-mounted transceiver would need a bulky connector (e.g. 4-pin DTM)
to match.
- Jetson Orin Nano has a built-in CAN controller (exposed by GPIO pins). Kernel `canN` order is not stable, so both are pinned by udev: onboard → `can_onboard`, PCAN-USB → `can_pcan` ([device naming](impl/reports/DEVICE-NAMING.md)). - Jetson Orin Nano has a built-in CAN controller (exposed by GPIO pins). Kernel `canN` order is not stable, so both are pinned by udev: onboard → `can_onboard`, PCAN-USB → `can_pcan` ([device naming](impl/reports/DEVICE-NAMING.md)).
## Waveshare SIM7600G-H-M.2 ## Waveshare SIM7600G-H-M.2