Hello folks,

I am trying to optimize the boot time of my system with Waveshare CAN cape. 

I got CAN1 (P24,P26) working by setting in uEnv.txt:

uboot_overlay_addr0=/lib/firmware/BB-CAN1-00A0.dtbo

It is also possible to use config-pin (I later noticed that this is a 
feature of cape-universal) to enable CAN1 as explained in this link: 
https://www.thomas-wedemeyer.de/beaglebone-canbus-python.html

While trying to reduce boot time, I realized that disabling cape-universal 
significantly reduces boot time. However when I disable it, CAN bus stops 
working and I get the following error when trying to enable it: 

debian@beaglebone:~$ sudo ip link set can1 up type can bitrate 500000
Cannot find device "can1"

Is it possible to use the CAN interface without cape-universal? How can I 
avoid unneeded hardware initialization to reduce boot time?

Thanks
Bora

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