diff --git a/boards/beaglev/fire/05-demos.rst b/boards/beaglev/fire/05-demos.rst
index 5bf8e3bff163c5e3095562fbcc562b9bcbbe3208..45e44d6ba1132d8d8f856f28a3badf6746b6f92d 100644
--- a/boards/beaglev/fire/05-demos.rst
+++ b/boards/beaglev/fire/05-demos.rst
@@ -24,4 +24,5 @@ Demos
demos-and-tutorials/gateware/customize-cape-gateware-verilog
demos-and-tutorials/gateware/running-the-bitstream-builder-on-windows
demos-and-tutorials/gateware/exploring-gateware-design-libero
+ demos-and-tutorials/gateware/comms-cape-gateware-usage
demos-and-tutorials/gateware/axi-apb-interfaces-demo
diff --git a/boards/beaglev/fire/demos-and-tutorials/gateware/comms-cape-gateware-usage.rst b/boards/beaglev/fire/demos-and-tutorials/gateware/comms-cape-gateware-usage.rst
new file mode 100644
index 0000000000000000000000000000000000000000..0dd4a6da6df67fbff75692846ff2fc6451d949af
--- /dev/null
+++ b/boards/beaglev/fire/demos-and-tutorials/gateware/comms-cape-gateware-usage.rst
@@ -0,0 +1,258 @@
+.. _beaglev-fire-comms-cape-gateware-usage:
+
+Comms Cape Gateware for BeagleV-Fire
+#####################################
+
+The comms cape provides an array of communication protocols including
+
+* one RS485,
+* one CAN,
+* two analog 4-20 mA current loops,
+* two 3A 50V interfaces allowing the control of high current loads.
+
+Cape schematics, layout, and mechanicals
+****************************************
+
+For the schematics, layout, and mechanicals of the cape, please refer to the `Comms Cape <https://openbeagle.org/beagleboard/capes/-/tree/master/beaglebone/Comms>`_ repository.
+
+Usage in Linux
+**************
+
+CAN
+===
+
+.. todo:: Due to the current Linux kernel being on ``6.1``, only a UIO driver is available instead of a Socket CAN driver. This section will be updated once Linux kernel ``6.6`` is shipped for the beagleV-fire, with the Socket CAN driver.
+
+RS485
+=====
+
+The RS485 interface is connected to ``UART4`` on the BeagleV-Fire. It can be accessed using ``/dev/bone/uart/4`` in Linux.
+
+Sink drivers
+============
+
+The sink drivers are connected to the ``P9_15`` and ``P9_23`` GPIOs. They can be controlled by writing to the GPIOs by:
+
+.. code-block:: shell
+
+ echo 425 > /sys/class/gpio/export
+ echo 431 > /sys/class/gpio/export
+ echo out > /sys/class/gpio/gpio425/direction
+ echo out > /sys/class/gpio/gpio431/direction
+ echo 1 > /sys/class/gpio/gpio425/value
+ echo 1 > /sys/class/gpio/gpio431/value
+
+Current loops
+=============
+
+The current loops are connected to the ADC inputs of the BeagleV-Fire at pins ``P9_35`` and ``P9_36``. They can be accessed once QSPI is enabled in the comms cape device tree overlay. The current loops can be read by:
+
+.. code-block:: shell
+
+ cat /sys/bus/iio/devices/iio:device0/in_voltage5_raw #Current Loop A
+ cat /sys/bus/iio/devices/iio:device0/in_voltage6_raw #Current Loop B
+
+Voltage to current conversion will have to be done in software.
+
+Pinout
+******
+
+The full pinout for the cape interface spec can be found `here <https://docs.beagleboard.org/latest/boards/capes/cape-interface-spec.html#id18>`_ . You can also see the pinout below, refer to the last column for comms-cape specific pins.
+
+P8 Header
+=========
+
++--------+----------------------------+-------+-------------+
+| Signal | Control | Irq # | Description |
++========+============================+=======+=============+
+| P8_1 | n/a | n/a | GND |
++--------+----------------------------+-------+-------------+
+| P8_2 | n/a | n/a | GND |
++--------+----------------------------+-------+-------------+
+| P8_3 | MSS GPIO_2[0] | 53 | User LED 0 |
++--------+----------------------------+-------+-------------+
+| P8_4 | MSS GPIO_2[1] | 53 | User LED 1 |
++--------+----------------------------+-------+-------------+
+| P8_5 | MSS GPIO_2[2] | 53 | User LED 2 |
++--------+----------------------------+-------+-------------+
+| P8_6 | MSS GPIO_2[3] | 53 | User LED 3 |
++--------+----------------------------+-------+-------------+
+| P8_7 | MSS GPIO_2[4] | 53 | User LED 4 |
++--------+----------------------------+-------+-------------+
+| P8_8 | MSS GPIO_2[5] | 53 | User LED 5 |
++--------+----------------------------+-------+-------------+
+| P8_9 | MSS GPIO_2[6] | 53 | User LED 6 |
++--------+----------------------------+-------+-------------+
+| P8_10 | MSS GPIO_2[7] | 53 | User LED 7 |
++--------+----------------------------+-------+-------------+
+| P8_11 | MSS GPIO_2[8] | 53 | User LED 8 |
++--------+----------------------------+-------+-------------+
+| P8_12 | MSS GPIO_2[9] | 53 | User LED 9 |
++--------+----------------------------+-------+-------------+
+| P8_13 | core_pwm[1] @ 0x41500000 | n/a | PWM_2:1 |
++--------+----------------------------+-------+-------------+
+| P8_14 | MSS GPIO_2[11] | 53 | User LED 11 |
++--------+----------------------------+-------+-------------+
+| P8_15 | MSS GPIO_2[12] | 53 | GPIO |
++--------+----------------------------+-------+-------------+
+| P8_16 | MSS GPIO_2[13] | 53 | GPIO |
++--------+----------------------------+-------+-------------+
+| P8_17 | MSS GPIO_2[14] | 53 | GPIO |
++--------+----------------------------+-------+-------------+
+| P8_18 | MSS GPIO_2[15] | 53 | GPIO |
++--------+----------------------------+-------+-------------+
+| P8_19 | core_pwm[0] @ 0x41500000 | n/a | PWM_2:0 |
++--------+----------------------------+-------+-------------+
+| P8_20 | MSS GPIO_2[17] | 53 | GPIO |
++--------+----------------------------+-------+-------------+
+| P8_21 | MSS GPIO_2[18] | 53 | GPIO |
++--------+----------------------------+-------+-------------+
+| P8_22 | MSS GPIO_2[19] | 53 | GPIO |
++--------+----------------------------+-------+-------------+
+| P8_23 | MSS GPIO_2[20] | 53 | GPIO |
++--------+----------------------------+-------+-------------+
+| P8_24 | MSS GPIO_2[21] | 53 | GPIO |
++--------+----------------------------+-------+-------------+
+| P8_25 | MSS GPIO_2[22] | 53 | GPIO |
++--------+----------------------------+-------+-------------+
+| P8_26 | MSS GPIO_2[23] | 53 | GPIO |
++--------+----------------------------+-------+-------------+
+| P8_27 | MSS GPIO_2[24] | 53 | GPIO |
++--------+----------------------------+-------+-------------+
+| P8_28 | MSS GPIO_2[25] | 53 | GPIO |
++--------+----------------------------+-------+-------------+
+| P8_29 | MSS GPIO_2[26] | 53 | GPIO |
++--------+----------------------------+-------+-------------+
+| P8_30 | MSS GPIO_2[27] | 53 | GPIO |
++--------+----------------------------+-------+-------------+
+| P8_31 | core_gpio[0] @ 0x41100000 | 126 | GPIO |
++--------+----------------------------+-------+-------------+
+| P8_32 | core_gpio[1] @ 0x41100000 | 127 | GPIO |
++--------+----------------------------+-------+-------------+
+| P8_33 | core_gpio[2] @ 0x41100000 | 128 | GPIO |
++--------+----------------------------+-------+-------------+
+| P8_34 | core_gpio[3] @ 0x41100000 | 129 | GPIO |
++--------+----------------------------+-------+-------------+
+| P8_35 | core_gpio[4] @ 0x41100000 | 130 | GPIO |
++--------+----------------------------+-------+-------------+
+| P8_36 | core_gpio[5] @ 0x41100000 | 131 | GPIO |
++--------+----------------------------+-------+-------------+
+| P8_37 | core_gpio[6] @ 0x41100000 | 132 | GPIO |
++--------+----------------------------+-------+-------------+
+| P8_38 | core_gpio[7] @ 0x41100000 | 133 | GPIO |
++--------+----------------------------+-------+-------------+
+| P8_39 | core_gpio[8] @ 0x41100000 | 134 | GPIO |
++--------+----------------------------+-------+-------------+
+| P8_40 | core_gpio[9] @ 0x41100000 | 135 | GPIO |
++--------+----------------------------+-------+-------------+
+| P8_41 | core_gpio[10] @ 0x41100000 | 136 | GPIO |
++--------+----------------------------+-------+-------------+
+| P8_42 | core_gpio[11] @ 0x41100000 | 137 | GPIO |
++--------+----------------------------+-------+-------------+
+| P8_43 | core_gpio[12] @ 0x41100000 | 138 | GPIO |
++--------+----------------------------+-------+-------------+
+| P8_44 | core_gpio[13] @ 0x41100000 | 139 | GPIO |
++--------+----------------------------+-------+-------------+
+| P8_45 | core_gpio[14] @ 0x41100000 | 140 | GPIO |
++--------+----------------------------+-------+-------------+
+| P8_46 | core_gpio[15] @ 0x41100000 | 141 | GPIO |
++--------+----------------------------+-------+-------------+
+
+P9 Header
+=========
+
++--------+----------------------------+-------+-------------------------+
+| Signal | Control | Irq # | Description |
++========+============================+=======+=========================+
+| P9_1 | n/a | n/a | GND |
++--------+----------------------------+-------+-------------------------+
+| P9_2 | n/a | n/a | GND |
++--------+----------------------------+-------+-------------------------+
+| P9_3 | n/a | n/a | VCC 3.3V |
++--------+----------------------------+-------+-------------------------+
+| P9_4 | n/a | n/a | VCC 3.3V |
++--------+----------------------------+-------+-------------------------+
+| P9_5 | n/a | n/a | VDD 5V |
++--------+----------------------------+-------+-------------------------+
+| P9_6 | n/a | n/a | VDD 5V |
++--------+----------------------------+-------+-------------------------+
+| P9_7 | n/a | n/a | SYS 5V |
++--------+----------------------------+-------+-------------------------+
+| P9_8 | n/a | n/a | SYS 5V |
++--------+----------------------------+-------+-------------------------+
+| P9_9 | n/a | n/a | NC |
++--------+----------------------------+-------+-------------------------+
+| P9_10 | n/a | n/a | SYS_RSTN |
++--------+----------------------------+-------+-------------------------+
+| P9_11 | MMUART4 | 94 | UART4 RX <--- For RS485 |
++--------+----------------------------+-------+-------------------------+
+| P9_12 | core_gpio[1] @ 0x41200000 | 143 | GPIO |
++--------+----------------------------+-------+-------------------------+
+| P9_13 | MMUART4 | 94 | UART4 TX <--- For RS485 |
++--------+----------------------------+-------+-------------------------+
+| P9_14 | core_pwm[0] @ 0x41400000 | n/a | PWM_1:0 |
++--------+----------------------------+-------+-------------------------+
+| P9_15 | core_gpio[4] @ 0x41200000 | 146 | GPIO |
++--------+----------------------------+-------+-------------------------+
+| P9_16 | core_pwm[1] @ 0x41400000 | n/a | PWM_1:1 |
++--------+----------------------------+-------+-------------------------+
+| P9_17 | MSS SPI0 | 54 | SPI0 CS |
++--------+----------------------------+-------+-------------------------+
+| P9_18 | MSS SPI0 | 54 | SPI0 MOSI |
++--------+----------------------------+-------+-------------------------+
+| P9_19 | MSS I2C0 | 58 | I2C0 SCL |
++--------+----------------------------+-------+-------------------------+
+| P9_20 | MSS I2C0 | 58 | I2C0 SDA |
++--------+----------------------------+-------+-------------------------+
+| P9_21 | MSS SPI0 | 54 | SPI0 MISO |
++--------+----------------------------+-------+-------------------------+
+| P9_22 | MSS SPI0 | 54 | SPI0 SCLK |
++--------+----------------------------+-------+-------------------------+
+| P9_23 | core_gpio[10] @ 0x41200000 | 152 | GPIO |
++--------+----------------------------+-------+-------------------------+
+| P9_24 | CAN_1_RXBUS | n/a | CAN RX <--- For CAN |
++--------+----------------------------+-------+-------------------------+
+| P9_25 | CAN_1_TX_EBL | 154 | CAN TX EBL |
++--------+----------------------------+-------+-------------------------+
+| P9_26 | CAN_1_TXBUS | n/a | CAN TX |
++--------+----------------------------+-------+-------------------------+
+| P9_27 | core_gpio[14] @ 0x41200000 | 156 | GPIO |
++--------+----------------------------+-------+-------------------------+
+| P9_28 | MSS SPI1 | 55 | SPI1 CS |
++--------+----------------------------+-------+-------------------------+
+| P9_29 | MSS SPI1 | 55 | SPI1 MISO |
++--------+----------------------------+-------+-------------------------+
+| P9_30 | core_gpio[17] @ 0x41200000 | 159 | GPIO |
++--------+----------------------------+-------+-------------------------+
+| P9_31 | MSS SPI1 | 55 | SPI1 SCLK |
++--------+----------------------------+-------+-------------------------+
+| P9_32 | n/a | n/a | VDD ADC |
++--------+----------------------------+-------+-------------------------+
+| P9_33 | n/a | n/a | ADC input 4 |
++--------+----------------------------+-------+-------------------------+
+| P9_34 | n/a | n/a | AGND |
++--------+----------------------------+-------+-------------------------+
+| P9_35 | n/a | n/a | ADC input 6 |
++--------+----------------------------+-------+-------------------------+
+| P9_36 | n/a | n/a | ADC input 5 |
++--------+----------------------------+-------+-------------------------+
+| P9_37 | n/a | n/a | ADC input 2 |
++--------+----------------------------+-------+-------------------------+
+| P9_38 | n/a | n/a | ADC input 3 |
++--------+----------------------------+-------+-------------------------+
+| P9_39 | n/a | n/a | ADC input 0 |
++--------+----------------------------+-------+-------------------------+
+| P9_40 | n/a | n/a | ADC input 1 |
++--------+----------------------------+-------+-------------------------+
+| P9_41 | core_gpio[19] @ 0x41200000 | 161 | GPIO |
++--------+----------------------------+-------+-------------------------+
+| P9_42 | core_pwm[0] @ 0x41000000 | n/a | PWM_0:0 |
++--------+----------------------------+-------+-------------------------+
+| P9_43 | n/a | n/a | GND |
++--------+----------------------------+-------+-------------------------+
+| P9_44 | n/a | n/a | GND |
++--------+----------------------------+-------+-------------------------+
+| P9_45 | n/a | n/a | GND |
++--------+----------------------------+-------+-------------------------+
+| P9_46 | n/a | n/a | GND |
++--------+----------------------------+-------+-------------------------+