The DIMM-AM335x features two CAN interfaces d_can0 and d_can1. Both are accessible on the baseboard Verno.

d_can0 is connected to the D-SUB connector J15. d_can1 is connected to the pin header J20.

Each interface can be enabled separately by the kernel parameter d_can in U-Boot. The commands on U-Boot are the following.

What value to set for the appropriate interface shows the table below.

The driver interface complies with the SocketCAN interface. There is general documentation for SocketCAN available in the Linux kernel tree at https://www.kernel.org/doc/Documentation/networking/can.txt.

For basic testing you can use the canutils:

For example: d_can0

# Configuration(if you reconfig the bitrate, you have to stop the interface before)

# Starting

# Sending 8 data bytes ten times

# Receiving on a configured and started can1

# Stoping