Connecting Beaglebone Black through CAN bus

Topics covering in this blog

• Connecting Beaglebone Black through CAN bus.
  • One node running RTEMS.
  • Other node running Linux.

Hardware connections for connecting two nodes through CAN bus

In Beaglebone Black, the controller does not have CAN transceivers. So here we use SN65HVD231DR in a breakout board CJMCU-230. We need two SN65HVD231DR CAN transceivers for each node.

Pin Connections

Receiving CAN messages in Linux

• Build and load the linux image to BeagleBone Black.
• Linux has a package CAN-utils, which has cansend, candump commands

$ sudo config-pin p9.24 can

$ sudo config-pin p9.26 can

$ sudo ifconfig can1 down

$ sudo ip link set can1 up type can bitrate 1000000

$ sudo ifconfig can1 up

$ candump can1

Sending CAN messages in RTEMS

• Get the repository(RTEMS source link) and checkout to commit ID: 7a9cc16d.

  $ git checkout 7a9cc16d

• Configure and build the RTEMS source
• Load the image to BeagleBone Black
• The CAN test application runs, which sends CAN messages in the CAN bus.

In Linux, candump command prints the CAN message received in the CAN bus.