I swear this works at least a little bit, here look:

https://www.youtube.com/watch?v=pqwqNU--IbQ

You'll need to compile and install a dtbo.

http://www.embedded-things.com/bbb/enable-canbus-on-the-beaglebone-black/

There are a couple of scripts that can do this for you:

./build_dtbo.sh
./install.sh

This describes how to put together a CAN Bus transceiver project board.

http://www.instructables.com/id/DIY-Beaglebone-CAN-Bus-Cape/

The canping and canpong binaries use the excellent SocketCAN interface. Once DCAN1 is enabled, use iface.sh to set up can0 and vcan0 interfaces.

Use leds.sh to disable the default LED triggers on the BBB.

Shouldn't need anything special.

gcc -o canping canping.c
gcc -o canpong canpong.c

As long as vcan0 is available, this should give you some blinkage.

./canping -n vcan0 &
sudo ./canpong -n vcan0 &

Kill everything with pkill canping and sudo pkill canpong when you're done.

I used stlink to build and burn to the STM32F4 board from the BBB. Follow the README in that repo to set up the toolchain.

Set the STLINK path in stm32f4_canpong/Makefile and try a build:

cd stm32f4_canpong
make

If that works, burn it:

make burn

Reset the board and, if everything is hooked up correctly and you're lucky, you should see lights blinking in concert. Be sure to startup canping and canpong against can0.

The candump tool is really handy for spitting out all CAN messages that the BBB can see:

candump can0