CODESYS - the IEC 61131-3 automation software

BeagleBone Black Selfmade CAN Cape
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Author:  Hummek1904 [ Tue Dec 13, 2016 5:43 pm ]
Post subject:  BeagleBone Black Selfmade CAN Cape

Hello together,
I try to connect a Beaglebone Black with CANBus. So i build a Beaglebone Cape for CANBus (you see it in picture):
DIY Schematic.jpg

After that, i followed the instruction of this link: ... ython.html until the CAN test part (because it doesnt work for me).

And now the Problem: If i try to test the bus with "./cansend can0" nothing happens. So i have measure P9 Pin24 (UART1 TXD) againgst ground and the level still stay at 3,1 V (P.S. i measure with a PicoScope).

Now the question is: what did i do wrong ? Or can there be an other mistake ?

Thanks in advance.



Author:  Edwin Schwellinger [ Tue Dec 13, 2016 7:14 pm ]
Post subject:  Re: BeagleBone Black Selfmade CAN Cape

using other can capes you need to enable them by:

'For using a CAN cape add following line to /boot/uEnv.txt:

Maybe this helps or at least you know what to 'google' for.


Author:  Anerdgy [ Thu Jul 04, 2019 10:24 am ]
Post subject:  Re: BeagleBone Black Selfmade CAN Cape

Just if others find their way here.

I used the same link

Followed it all the way through for auto start etc and it works fine.

for candump you may need to install can-utils ........
sudo apt-get install can-utils

then cd /usr/bin

then you can just run
candump can1
NOTE it is can1 NOT can0 !!!!

In codesys make sure to set the Canbus Network to 1 (Not 0) and the correct baudrate

Then add Canopen Manager and then a device.

And if the device is sending PDO's you'll be able to monitor this immediately.

Hope this helps

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