mirror of https://github.com/ArduPilot/ardupilot
45 lines
1.1 KiB
Bash
45 lines
1.1 KiB
Bash
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#!/bin/bash
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# this script sets up SITL to be able to attach to real CAN devices
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# once run, you can configure SITL for CAN just like a real board, with the CAN parameters
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#
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# CAN_P1_DRIVER=1
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# CAN_D1_PROTOCOL=1
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# once running you can also attach uavcan_gui_tool to vcan0 to monitor the CAN bus
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[ $# -eq 1 ] || {
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echo "Usage: can_sitl.sh DEVICE"
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echo "for example can_sitl.sh /dev/serial/by-id/usb-Zubax_Robotics_Zubax_Babel_3700330018514D563935392000000000-if00"
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exit 1
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}
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DEVPATH="$1"
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if readlink $DEVPATH > /dev/null; then
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DEVNAME=$(basename $(readlink $DEVPATH))
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else
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DEVNAME=$(basename $DEVPATH)
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fi
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set -e
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# cleanup from a previous run
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sudo killall -9 slcand 2> /dev/null || true
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for m in slcan can-gw vcan can_raw can; do
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sudo rmmod $m 2> /dev/null || true
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done
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sudo modprobe vcan
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sudo ip link add dev vcan0 type vcan
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sudo ip link set up vcan0
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sudo modprobe slcan
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sudo modprobe can-gw
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sudo slcan_attach -f -s8 -o "$DEVPATH"
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sudo slcand "$DEVNAME" slcan0
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sudo ifconfig slcan0 up
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sudo cangw -A -s vcan0 -d slcan0 -e
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sudo cangw -A -s slcan0 -d vcan0 -e
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echo "slcan0 setup"
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ifconfig slcan0
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