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I wasnвЂ™t able to get the PiCAN2 running with the latest (4.4.16) firmware though. I was using a Raspberry PI 2 running the latest Raspbian. The pin assignment on the MГ¤rklin Connector Box is described by Stefan KrauГџ. It is possible to either use the DB9 Connector or the screw terminal on the PiCAN2 to connect it to the MГ¤rklin Connector Box. Mounting the board is easy, it only fits one direction. Hardware installationДЄctivating the terminator resistance is described in the manual. On the downside, I found it inevitable to solder a 2-way header pin as jumper bridge to the board myself to be able to use the 120О© terminator already present on the board. Getting it running is quite straightforward. CAN controllerДЄfter some research, I decided to get a PiCAN2 board form SK Pang Electronics. The most obvious solution available for this task is Rocrail.

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It will hand over commands between Ethernet/UDP and the CAN bus.ДЄs a final step, software to produce the actual commands to be transmitted to the Digital Connector Box is required. Gerhard Bertelsmann has written a wonderful C program called can2udp for exactly that purpose. Connected to the LAN, it will take commands from any Ethernet-capable device such as personal computers or even smartphones.

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That way, it is possible to install the PI somewhere close to the MГ¤rklin Digital Connector Box and the railway layout. Since it is usually common to use the Raspberry PI via SSH instead of a display connected, a piece of software taking commands via Ethernet and hand them over to the CAN bus is required. Using a Raspberry PI together with a ready-made CAN extension module seemed like a good and safe solution, as various people already proved that this setup usually works. It is therefore possible to use any device capable of transmitting data over CAN to control the model railway. It communicates with controllers, such as the Mobile Station, via CAN bus using a protocol defined and thankfully published by MГ¤rklin. The MГ¤rklin Digital Connector Box is a device containing a signal processor that generates the digital signal on the rails. Thanks to an outstanding blog post on as well as Stefan KrauГџвЂ™ homepage, a solid groundwork was already present. This solution is intended as a temporary replacement for an additional MГ¤rklin control device and research was done out of curiosity.

Sending a few commands will cause the logging buffer to flush and the logs to appear in the journalctl output. Because of that, no output of can2udp might appear in the logs at first. Linux will buffer the output written by can2udp and not write it to /var/log/ per line. Sudo journalctl - u socketcan - interface. Log output of the respective units can be viewed using Since the socketcan-interface is of type oneshot, it will be marked as exited while can2udp should be indicated as running. Both the rvice and the rvice unit should be listed as loaded and active. TroubleshootingДЄn overview of all running systemd units can be found using From this point, whenever the PI starts, the can0 interface will be up and running with a proper baudrate and can2udp will be started waiting for incoming UDP connections on its default port. ConclusionДЄfter both systemd units have been created and enabled, the Raspberry PI has to be rebooted. Will set permissions and enable the unit. Multiple commands have to be separated with. Since all commands used in this unit will exit after completion, the type has to be set to oneshot along with the RemainAfterExit= option set to yes. The can0 interface should be initialized as soon as networking is available, which should be the case on runlevel 3 that translates to multi-user.target for systemd. Sudo vim / lib / systemd / system / socketcan - interface. The CAN interface initialization serviceД¬reate a new unit configuration file using

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Information about how systemd works and how to create unit configuration files can be found in the systemd(1) Linux manual page or in Justin EllingwoodвЂ™s excellent article on DigitalOcean. Raspbian is using systemd as service manager, so this post will describe how to create systemd units for the tasks described above. In order to achieve that, can2upd is going to be registered as a service and started right after the can0 interface has been initialized. Therefore, if the Pi is used as a permanent controller, it might be preferable to have these initialization steps been carried out during startup. At this point, the CAN interface has to be initialized manually after every reboot.