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ISOBlue Setup Tutorial

Getting Started

Refer to the BeagleBone document here for help connecting the BeagleBone Black to a computer and installing the necessary drivers.

Command Syntax

For the examples shown in this document, lines starting with $, #, or > are commands. To run the commands, type everything after that first character into a terminal.

Updating Angstrom

Download the latest Angstrom image from here. Be sure to download the image for BeagleBone ( NOT BeagleBone Black ) if you want to use a microSD card (recommended). Once you have the image, you need to write it to a micoSD card. See the sections below based on the operating system of your computer.

Linux (Tested in Ubuntu)

First you must identify which device your SD card is. This can be done with the lsblk command. Run lsblk -d without the SD card plugged in, plug in the SD card, then run lsblk -d again. The second time there should be a new line corresponding to the SD card. Example output is below:

$ lsblk -d
sda    8:0    0 238.5G  0 disk
$ lsblk -d
sda    8:0    0 238.5G  0 disk 
sdb    8:16   1   3.7G  0 disk

You need what is in the NAME column, which is this example is sdb. Replace occurrences of DEVICE with the device of your SD card (sdb in the example). Replace occurrences of IMAGE with the file you saved the Angstrom image as.

$ sudo umount /dev/DEVICE*
$ xz -dc IMAGE | sudo dd of=/dev/DEVICE
$ sudo sync

Once the last command exits, it is safe to remove the SD card.


See here for Windows directions.


Assembled ISOBlue


Plug the Bluetooth dongle into the BeagleBone Black's USB port.

CAN Cape

Attach the TT3201 CAN Cape to BeagleBone Black as in the above picture. It really only fits on one way.

The cape has an 8 pin connector with rectangular holes on the top and circular hole on the bottom. Wires are attached by pushing them into the round holes. Wires can be removed by pushing something such as a paper clip into the rectangular hole above the wire, DO NOT try to just pull the wires out. Pin 1 of the connector is indicated on the cape, and in the picture above. When looking at the connector head on, pin 1 is the farthest left, and pin 8 is the farthest right. The table below shows which ISOBUS signals correspond to each pin.

Pin Signal
2 NC
3 NC
4 NC
5 Tractor CAN_L
6 Tractor CAN_H
7 Implement CAN_L
8 Implement CAN_H

There are 3 DIP switches on the cape, directly to the left of the connector. These switches enable/disable termination resistors on the CAN buses. They MUST be in the off position, which is toward the side of the BeagleBone Black that has the USB port and the SD card slot.

SD Card

Insert the microSD card with Angstrom into the BeagleBone Black's SD slot.

Angstrom Setup

Connect the BeagleBone Black to a computer with a Mini-USB cable. Also connect the BeagleBone Black to the Internet with an Ethernet cable. You can now SSH into the BeagleBone Black with IP user root and no password. If you do not have an SSH client, you can go here with the browser of the computer to which you connected the BeagleBone Black. This is where you run commands on the BeagleBone Black.

Create a Password

It is strongly advised that you create a password for the BeagleBone Black. This can be done with the passwd command. Run the command and enter your desired password when prompted. What you type will not show, just type the password anyway. An example is shown below.

# passwd
Enter new UNIX password:
Retype new UNIX password:
passwd: password updated successfully

Install Packages

There are a few packages needed to get the files, and to compile them. The following commands will install and configure them.

# opkg update
# opkg install wget git kernel-dev bluez4-dev
# make -C /usr/src/kernel scripts
# ln -fs /usr/src/kernel /lib/modules/`uname -r`/build

Install LevelDB

LevelDB is also needed, but cannot currently be installed with opkg. You must download the source, compile, and install it as below.

Clone the LevelDB git repo
$ git clone ~/leveldb
Compile LevelDB
$ cd ~/leveldb
$ make
Install LevelDB
# cp --preserve=links libleveldb.* /usr/lib
# cp -r include/leveldb /usr/include/
# ldconfig

TowerTech Patches

At the time this was written, the CAN cape needed changes to the kernel and some modules. If those changes have made it upstream, this section is not longer needed. After you have bought the cape from TowerTech, email them and they will send you a link to a new kernel and modules. To install them run the commands below, replacing LINK with the link you got from TowerTech.

# wget --no-check-certificate -O - LINK | tar -jx -C /
# reboot

The BeagleBone Black will restart. After is has restarted, you will be able to SSH in again and continue. The next few commands are so that the source of the regular Angstrom kernel will be used to compile modules. This is needed because the patched kernel does not come with its source.

# ln -fs /usr/src/kernel /lib/modules/`uname -r`/build
# ln -fs /lib/modules/`cat /usr/src/kernel/kernel-abiversion`/extra \
> /lib/modules/`uname -r`/extra

Enable Bluetooth

To enable Bluetooth a file on the BeagleBone Black needs to be edited. In the file /var/lib/connman/settings there is a line about Bluetooth which is set to false, you must change it to true. An example of the file's contents is shown below.

$ cat /var/lib/connman/settings



The line to change happens to be the last one here. Under the heading Bluetooth, the line should be Enable=true. You can edit the file with the following command:

# nano /var/lib/connman/settings

Make the necessary change, then hit Ctrl-O, Enter, Ctrl-X. For the change to take effect, you must restart the BeagleBone Black.

# reboot

ISOBlue Installation

Clone the Git Repo

The code from this repository need to be on the BeagleBone Black. The below command clones the repository onto it.

$ git clone git:// ~/isoblue-software

Compile and Install SocketCAN Modules

The following commands compile, and then install, the kernel modules need to use ISOBUS in SocketCAN.

$ cd ~/isoblue-software/socketcan-isobus
$ make modules
# make modules_install
# depmod -a

Compile and Install ISOBlue tools

The following commands compile, and then install, all the processes for running or testing ISOBlue.

$ cd ~/isoblue-software/tools
$ make
# make install

Install Startup Files

The following commands install the startup files that tell the BeagleBone Black how to configure itself on boot.

$ cd ~/isoblue-software/angstrom
# cp systemd/* /etc/systemd/system/
# systemctl enable
# cp udev/* /etc/udev/rules.d/

Apply changes

In order for the BeagleBone to start working as an ISOBlue, it must be restarted after the ISOBlue files have been installed.

# reboot

Android Library

ISOBlue is intended to be used with and Anrdoid library. That library along with its source code, description, and usage is here.

Usage Examples

Using without an ISOBUS Connection

ISOBlue needs to be connected to a valid ISOBUS network, even to send messages from one program to another on the BeagleBone Black. If you would like to try the example below without connecting to an ISOBUS, you must run the following commands to put ISOBlue in loopback mode.

# ifconfig ib_eng down
# canconfig ib_eng ctrlmode loopback on
# ifconfig ib_eng up
# ifconfig ib_imp down
# canconfig ib_imp ctrlmode loopback on
# ifconfig ib_imp up

This mode will persist until you restart the BeagleBone Black.

SocketCAN Module

ISOBUS message can be sent and received using SocketCAN. A simple example program is sc_mod_test, with its source code here. The syntax for calling it is below. Replace DEVICE with the CAN device to use (for ISOBlue there are ib_eng and ib_imp). Replace [ADDR] with a preferred address for the program to claim, or leave it out to self configure.

$ ~/isoblue-software/tools/sc_mod_test DEVICE [ADDR]

The program sends a request PGN then listens for messages, printing any it sees to the terminal.