Picking up mine with the 3xCAN shield next week as well, what I’ve read so far it should work with the BNO08x as well through I2C
I’ll test that tonight if I get time. Got a BNO085 spare at the moment.
Does it fit on the motherboard?
If you mean PCBv2, definitely won’t fit.
We’re gonna need a Teensy PCB at some point in time if there’s need for IO. Or an IO PCB with CAN.
1 Like
Full agreement, I have already been dreaming of just changing @GoRoNb smd board to accept a teensy 4.0 in a socket.
The Can shields from Copperhilltech have almost arrived, for both teensy and due.
It barely needs one , especially if the board with the transceivers is used. It has 12 input too apparently.
Would be good to see how accurate the adc’s are for WAS operation on a more conventional setup too. 3v3 might be the only issue for many 0v5 to 4v5 hall sensors. Close tolerance resistors for a voltage divider may suffice?
I’m as well - the NXP controller is out of stock everywhere 
In fact it should be quite easy to integrate. Supply and data come via USB, so only two wires to each of the two CAN drivers have to be made by hand. Will definitely try this myself, when there is a nice firmware for that guy!
True, I’m now experimenting with a J1939 WAS and a digital RS422 one (still waiting for both) to get rid of the analog probelms. Steering wheel sensor to bus for disengage, borrowing the Danfoss SASA from another project, some automotive sensor might work as well and be a bit cheaper… So this goes to the CAN based standalone system. Autosteer enable switch I’ll just leave out and put a power on/off switch for the PVEA valve instead, doubles as a road safe switch as well. Engage then via tablet manual button.
The chip shortage is getting out of hand, maybe its a sign they are pausing to retool. Hopefully even faster cheaper chips just around the corner 
I am not sure which would be better 4.0 or 4.1, but teensy has enough ram an speed to keep up with our imaginations for quite some time.
Just ran the Sparkfun BNO085 Euler angles example on the Teensy4.1 and it works absolutely fine.
So does the Adafruit Game Rotation Vector example.
All unchanged. (Obviously 0x4A address specified in sparkfun as it defaults to 0x4B)
2 Likes
I’ve also got it working with both my, and @Math’s code for the BNO085 in AOG. What doesn’t work is Module configuration. Well it hangs AOG until you unplug the USB, so I’m wondering if perhaps resetFunc() doesn’t work as expected with the Teensy…
…becoming OT here and perhaps the subject of a new topic.
Just got all the CAN toys today.
At first I thought the Copperhill tech triple 4.0 Can was a bit pricey, but it actually came with the teensy 4.0 strapped to it so not bad at all. Also has breakouts for serial pins, i2c and a few others.
The Arduino DUE shield covers up all but uart 0, but the others could be accessed with fancy wiring. But now I can peer into the world of ISO bus with a CAN DUE attitude.
@Alan.Webb I think just about everyone on this thread is running teensy for viewing CAN, I guess @CommonRail can decide if we need to split off to a seperate teensy thread. Though a teensy thread could be helpful to capture other system integrations.
2 Likes
I’m not too worried, give you guys (the experts) a sniff and show it’s definitely easy enough to get a system going.
What ever we end up with will be a really simple CAN based system for all brands (well most brands) keep it here, start simple at the top and get more advanced as you read down?
2 Likes
Looks like they’ve added a lot of I/O ports for the new revisions, like the digital pins etc. Nice! Looks like there’s analog, digital, UART and PWM available directly on the board.
1 Like
TBF I think the teensy is particularly relevant to what we are trying to do so it’s probably fine here!
The onboard Ethernet should enable us to send it all via udp too, not that I’ve ever tried udp before, or coding it😬
Behold the professional test setup 
Got the Danfoss hooked up and tested communication today, bit hard to test offline as it’s not recommended to keep power on without hydraulics and it’s going to fault mode as the feedback sensor is not in the correct place. Currently on the PiCAN board, Teensy next week…
6 Likes
Does someone now if it is possible to read out the tractor driving speed with the canbus? I’ve tried it with the incab connection and this is working, the only problem is that our tractor is driving with a speed of 100 meters a hour. And the incab connector is working when the tractor is driving at least 1 km/h.
I would like to make a remote control for our tractors, now they put some wires between the joystick to manipulate the signals, but i would like to try it on the v-bus. so it is kind of plug and play. The actual driving speed is then used as reference since we speed up with a speed of 50 m/h.
Been doing bit of research on the Flexcan_T4 library, does anybody have any example code for filtering? Found @torriem’s thread on the Teensy forum about losing frames in CAN bridge mode and a solution for that so that’s already helping out.
I’m trying to put the Teensy first in between the armrest hydraulics controller and the valves in the back to control the levelling blade with OpenGrade3D. As it’s sitting in between the single valve I was thinking of making things easier by HW filtering just the messages going to that specific valve, does that make any sense? Am I understanding correctly that the mask / filter works like this:
-
Mask sets the bits that I want to pick from the CAN ID. So if I mask with 0XFF i.e. 0b11111111 it’s making a logical AND and picking the last byte from the ID. Similarly, a mask of 0xFF00 would pick the second last byte etc. If wanting to look at the PGN, I’d set a mask that’s all ones in binary for the bits containing the PGN in the 29 bit header?
-
The filter compares the bits selected by the mask to the filter, so if I want just to get the messages coming from say CAN ID=34, I’d mask with 0xFF and filter with 0x34? Right?
IsoBus PGN 61474. Wheel-based speed won’t work below ~1km/h. ground-radar and/or GPS required.
At 50m/h even ground-radar might not be sufficient, you will probably need RTK to get any usefull readings.