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To build the latest kernel I followed the instructions on this github page. Further I disabled my i2c2 pinmux by commenting out in am335x-bone-common.dtsi
//pinctrl-0 = <&i2c2_pins>;
And enabled dcan0
&dcan0 {
status = "okay"; // Switch on DCAN0
pinctrl-names = "default"; // Apply default pinmuxing
pinctrl-0 = <&dcan0_pins>;
};
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