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AP_Periph: add docs for CAN SITL

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Siddharth Purohit 2020-11-09 13:41:20 +05:30 committed by Andrew Tridgell
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Tools/AP_Periph/README.md
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@ -95,6 +95,80 @@ parameter "FLASH_BOOTLOADER" to 1. After setting it to 1 the node will
respond with a debug text message which can be seen in the UAVCAN GUI
tool to show the result of the flash.
# SITL Testing
Currently GPS peripheral build is supported under linux environment,
we simulate a UAVCAN GPS Peripheral on SocketCAN.
Setup can be done as follows, this is on top of usual setup required
to build ardupilot:
```
sudo dpkg --add-architecture i386
sudo apt-get update
sudo apt-get install -y gcc-multilib g++-multilib
sudo apt-get update
sudo apt-get -y install can-utils iproute2 linux-modules-extra-$(uname -r)
sudo modprobe vcan
sudo ip link add dev vcan0 type vcan
sudo ip link set up vcan0
```
Build Commands:
```
./waf configure --board sitl_periph_gps
./waf AP_Periph
```
Autotest Command:
```
Tools/autotest/autotest.py -v Copter build.SITLPeriphGPS test.CAN
```
---
**Note**
To run valgrind on AP_Periph binary you might need to get 32 bit version of libc6-dbg which can be simply get using following command for Ubuntu machines: `sudo apt-get install libc6-dbg:i386`
---
https://github.com/linux-can/can-utils contains a nice set of utility to do CAN related testings on Linux system. I used Ubuntu for this development, for Ubuntu systems you can simply download this tool using `sudo apt-get install can-utils`
Following are the common commands that can be used while testing or developing:
* Create Virtual CAN Interface:
```
sudo modprobe vcan
sudo ip link add dev vcan0 type vcan
sudo ip link set up vcan0
sudo ip link add dev vcan1 type vcan
sudo ip link set up vcan1
```
* Route one CANSocket to another
```
sudo modprobe can-gw
sudo cangw -A -s vcan0 -d vcan1 -e
sudo cangw -A -s vcan1 -d vcan0 -e
```
* Delete routes
```
sudo cangw -D -s vcan0 -d vcan1 -e
sudo cangw -D -s vcan1 -d vcan0 -e
```
* Route SLCAN to VCAN, this allows connecting CAN devices to SITL run via CAN Adapter like the one running in Ardupilot itself.
```
sudo modprobe slcan
sudo modprobe can-gw
sudo slcan_attach -f -s8 -o /dev/ttyACM0
sudo slcand ttyACM0 slcan0
sudo ifconfig slcan0 up
sudo cangw -A -s vcan0 -d slcan0 -e
sudo cangw -A -s slcan0 -d vcan0 -e
```
* Dump can messages:
```
sudo candump vcan0
```
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