ardupilot/Tools/scripts/CAN/can_sitl.sh

#!/usr/bin/env bash
# this script sets up SITL to be able to attach to real CAN devices
# once run, you can configure SITL for CAN just like a real board, with the CAN parameters
#
# CAN_P1_DRIVER=1
# CAN_D1_PROTOCOL=1

# once running you can also attach uavcan_gui_tool to vcan0 to monitor the CAN bus

[ $# -eq 1 ] || {
    echo "Usage: can_sitl.sh DEVICE"
    echo "for example can_sitl.sh /dev/serial/by-id/usb-Zubax_Robotics_Zubax_Babel_3700330018514D563935392000000000-if00"
    exit 1
}

DEVPATH="$1"

if readlink $DEVPATH > /dev/null; then
    DEVNAME=$(basename $(readlink $DEVPATH))
else
    DEVNAME=$(basename $DEVPATH)
fi

set -e

# cleanup from a previous run
sudo killall -9 slcand 2> /dev/null || true
for m in slcan can-gw vcan can_raw can; do
    sudo rmmod $m 2> /dev/null || true
done

sudo modprobe vcan
sudo ip link add dev vcan0 type vcan
sudo ip link set up vcan0
sudo ip link set vcan0 mtu 72
sudo modprobe slcan
sudo modprobe can-gw
sudo slcan_attach -f -s8 -o "$DEVPATH"
sudo slcand "$DEVNAME" slcan0
sudo ifconfig slcan0 up
sudo cangw -A -s vcan0 -d slcan0 -e
sudo cangw -A -s slcan0 -d vcan0 -e

echo "slcan0 setup"
ifconfig slcan0