CanBus for Beginners - Super Simple

[Esserrano]

Firmware ???

[BGunics]

https://gunicsba.github.io/firmwares/Autosteer_AOGv5_Teensy4.1UDP_SteerReadyCAN_TM171_29.11.2025.ino.hex
There you go. But I’m using my own PCB design… Built from this branch: Commits · gunicsba/AOG_CAN_Teensy4.1 · GitHub
Should be pin to pin compatible with Tony

[Esserrano]

Okay. Thanks for the information. I’ll try again. One question: can the system be activated while stationary? In other words, does the tractor send the signal through the CAN bus while stopped, or does it need to be moving?

[BGunics]

Usually you need the following:
start the tractor
activate the switch (for rocker switches this means you turn it OFF then ON…)
touch the steering wheel and move the wheels a bit
activate steering in agopengps
move the tractor forward slightly and the wheels will move

I tend to forget to rock the steering wheel and fater 30 seconds of inactivity it won’t allow autosteer.

Also a good idea to set steer enable as NONE in agopengps in case the buttons don’t work.

[miller2111]

Forgive me if this seems like a stupid question … But Is this a complete replacement of the AIO board in the case where you want to drive via CAN? Or an additional board for communication and control purposes?
I have several of the AIO boards, some with dual and most with single but now I want to move in to MF 8650 with CAN steering.

Just looking for a bit of a direction to take here! Appreciate any assistance.

[Karja]

What AIO boards do u have? AIO 4.1 has 1 canbus chip and 2.x have 2

[miller2111]

I have the 4.1 boards. Which I did get the chips when I ordered the boards so they should be all set for that. Is that all I would need then? Or do I need to connect with multiple busses. Tractor is a MF 8650 for reference.

[Karja]

I don’t have answer for that question, but if u search up messey in the forum, u will find multiple posts about massey and canbus. Also i suggest u to join telegram and ask there, might get answer faster there from people who have done it.

[BGunics]

Valtra A105 2026 with PVED valve here’s what I know so far:

CAN ID: 0x0CACFFF0 (then I sent an address claim with F0 and managed to evict him to 0x0CACFFC8 / 0x0CACFFC9 )
byte0 / 1 has the angle.
byte2 is F0 / F1 when the tractor is off and we press quicksteer, then F5 when quicksteer is “active” (but I don’t really see if the wheels would move quicker)

There’s another bus which is where we have the VALVE , SASA sensor but not the wheel angle…

Not sure if we’re missing an unlock. When I pull the valve the Valtra SmartTouch does throw an error code…

Valtra A105_logs.zip (144.0 KB)

[CQuick]

Was on a 2019 McCormick X7.660 today. Here’s what I learned:

Steer angle and valve control messages are the same as Valtra/MF, but the engage is 0x180501FC, and byte 1 changes from 0 to 1 when the button is pressed.
So adding the code below, and adding the PGN to the filter works.

if (VBusReceiveData.id == 0x180501FC)
            {
                if ((VBusReceiveData.buf[1]) == 1)
                {   
                    Time = millis();
                    digitalWrite(engageLED,HIGH); 
                    engageCAN = 1;
                    relayTime = ((millis() + 1000));
                }
            } 

[del_boy]

Be good of this could be added to the canbus ino

[BGunics]

Apparently there’s no 3rd party steering unlock available to the A105 as of now…
“product management decision”

[VegaLiao]

After changing the address from 1B to 1E on the CLAAS AXION 870 using Teesey, the tractor keeps reporting error code 686 after restarting and remains inoperable. Has anyone else encountered this issue?

[RGM]

How have you made the harness to connect at the 16 way atp connector? If you have just connected the pcb to the steering can and changed the pved parameters without making the harness for the 16 way atp connectors you will get this error

[VegaLiao]

Hi Ryan, thank you for your helpful response. I haven’t connected Tony’s Teensy4.1 board to the ATP2 yet. Could you tell me how to do that? Could you also share the user manual for the ATP2 module? I’d like to know what data Agopengps need to provide to the ATP2 module to prevent failures during curvature control.

[VegaLiao]

Hey, Chris, do you have the user manual for the CLAAS ATP2? I’m not sure how to connect it to Tony’s Teensy 4.1 development board. What data does AgOpenGPS need to provide to the ATP2 for the PVED curvature control feature to work properly?

[Ticeman11]

Hello everyone,

I have already integrated AOG on two tractors using a motor on the steering wheel. Now I want to integrate a steering-ready tractor (Massey Ferguson) with AOG.

I have an AIO 4.5 board with a BNO, Teensy, and GPS module. Do I only need to connect the CAN High and CAN Low wires from the tractor to the AIO and flash the correct firmware to the Teensy?

I don’t know much about CAN bus yet, so I would like to know if there are any other steps, settings, or configurations needed before it can be used with AOG.

Thanks in advance!