*List messages about CAN*
dmesg | grep -i can
*List Devices*
cat /proc/net/dev
Result Like this:
--------------------------------------------------------------------------------------------------------------------------------
$ cat /proc/net/dev
Inter-| Receive | Transmit
face |bytes packets errs drop fifo frame compressed
multicast|bytes packets errs drop fifo colls carrier compressed
lo: 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0
can0: 16 2 0 0 0 0 0 0
16 2 0 0 0 0 0 0
eth0: 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0
--------------------------------------------------------------------------------------------------------------------------------
*For the BBB recognize the CAN card is necessary to make a copy of the file:*
"BB-BONE-SERL-01-00A1.dtbo" (cape version 01) to
"BB-BONE-SERL-01-00A2.dtbo" (cape version 02)
*These files are in the directory:*
"/lib/firmware/"
*Configure CAN interface:*
ip link set can0 type can tq 125 prop-seg 6 phase-seg1 7 phase-seg2 2 sjw 1
ip link set can0 type can restart-ms 100
ip link set can0 type can bitrate 125000
ip link set can0 up type can bitrate 125000
*bitrate depends on the configuration of your network *
*Test with:* "ifconfig"
*For me it worked well*
2015-07-09 16:22 GMT-03:00 <[email protected]>:
> Sorry, How to connect EPOS2 with beaglebo black, can you give a basic step
> please.
>
> Thanks,
> Cayetano
>
> On Friday, September 6, 2013 at 8:11:23 AM UTC-5, [email protected] wrote:
>>
>> Hi Everyone,
>>
>> I believe you have already managed to make communication with the CAN BUS
>> on the Beaglebone Black. So I wonder what you have done for the BBB
>> recognizes the CAPE CAN. Used its own version of linux or already compiled?
>> I am using version 8.21.2013 Angustrom with kernel 3.8.13, but it does not
>> recognize the CAN.
>>
>> Thanks!
>> Willyan
>>
>>
>>
>> Em sexta-feira, 1 de março de 2013 17h19min17s UTC-3, Glenn Trainer
>> escreveu:
>>>
>>> Hi Everyone,
>>>
>>> I'm working on using the CANcape Rev A2 to communicate with a Maxon
>>> EPOS2 controller using the Cia402 device profile. To date I have been able
>>> to spin the motor using SDO communication and adjust some settings. My
>>> current problem is that I'm not sure how to read CAN data generated by the
>>> motor controller into the Beaglebone. I can see on my logic analyzer that
>>> data is being sent back from the EPOS2 controller. However when I call the
>>> candump
>>> command nothing is displayed. The bus is properly terminated with
>>> 120ohm resistors.
>>>
>>> Thoughts???
>>>
>>> I'm looking to write some simple python code to control the motor for
>>> light robotics applications. If anyone has some sample code to read in CAN
>>> data as inputs to a program, I'd love to see it.
>>>
>>> Thanks!
>>> Glenn
>>>
>>
--
*Willyan Schultz Dworak*
--
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