This tutorial is based on a Debian Stretch distribution from 2017-12-12 on the Beaglebone Black. The description is independent of the used CAN cape. I used this CAN cape: BeagleBone Serial Cape from Logic Supply
- Download latest BeagleBone Black image from BeagleBone Images, e.g. the Debian Stretch IoT (non-GUI).
- Following the software update guide.
- For short: Program image to the sd card by using a sd card programming utility.
- Hold the user/reset button pressed, while powering the board.
- Connect to the BeagleBone Black via ssh.
- hostname: beaglebone
- user: debian
- password: temppwd
- Next important step is to change the password via
passwd
. - Update the packages:
sudo apt-get update
- Upgrade the distribution:
sudo apt-get upgrade
The BeagleBone should already have the SocketCAN drivers installed, so to use the CAN bus you just need to set the bitrate 125 kBit/s and bring up the CAN0 interface with:
sudo ip link set can0 up type can bitrate 125000
ifconfig
You should see now the can0 interface, similar as shown in the following example.
can0: flags=193<UP,RUNNING,NOARP> mtu 16
unspec 00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00 txqueuelen 10 (UNSPEC)
RX packets 0 bytes 0 (0.0 B)
RX errors 0 dropped 0 overruns 0 frame 0
TX packets 0 bytes 0 (0.0 B)
TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0
device interrupt 166
if candump
is not available, it looks like the CAN utilities are not installed. In this case follow the instructions, otherwise just skip this chapter.
git clone https://github.com/linux-can/can-utils
cd can-utils
apt-get install automake
./autogen.sh
./configure
make
make install
- Update the network interface for CAN, to start it automatically during startup:
sudo nano /etc/network/interfaces
- Add the following at the end:
allow-hotplug can0
iface can0 can static
bitrate 125000
To test whether its working or not, lets dump all CAN messages to the console: candump can0
Abort it with strg + c.