mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-05 23:40:34 +08:00
Pavel Kirienko
88 lines
2.2 KiB
Bash
Executable File
88 lines
2.2 KiB
Bash
Executable File
#!/bin/bash
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#
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# Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@zubax.com>
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#
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HELP="Register slcan-enabled Serial-to-CAN adapters as network interfaces.
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Usage:
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`basename $0` [options] <tty0> [[options] <tty1> ...]
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First device will be mapped to the interface slcan0, second will be mapped to
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slcan1, and so on. Keep in mind that the effect of this script is not
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additive, i.e. all existing slcan interfaces will be removed and replaced with
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new ones. The package 'can-utils' has to be installed in order to use slcan.
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Options:
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-s<X> (where X is a number in range [1, 8]) Set CAN speed to:
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1 - 20 Kbps
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2 - 50 Kbps
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3 - 100 Kbps
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4 - 125 Kbps (UAVCAN recommended)
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5 - 250 Kbps (UAVCAN recommended)
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6 - 500 Kbps (UAVCAN recommended)
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7 - 800 Kbps
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8 - 1 Mbps (UAVCAN recommended, default)
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Example:
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$0 /dev/ttyUSB3 /dev/ttyUSB0 -s4 /dev/ttyACM0
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The example above initializes:
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/dev/ttyUSB3 --> slcan0 @ 1Mbps
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/dev/ttyUSB0 --> slcan1 @ 1Mbps
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/dev/ttyACM0 --> slcan2 @ 125kbps"
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function die() { echo $@ >&2; exit 1; }
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if [ "$1" == '--help' ] || [ "$1" == '-h' ]; then echo "$HELP"; exit; fi
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[ -n "$1" ] || die "Invalid usage. Use --help to get help."
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[ "$(id -u)" == "0" ] || die "Must be root"
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# ---------------------------------------------------------
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function deinitialize() {
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echo "Terminating slcand..."
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slcand_kill_retries=10
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while killall slcand &> /dev/null
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do
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(( slcand_kill_retries -= 1 ))
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[[ "$slcand_kill_retries" > 0 ]] || die "Failed to kill slcand"
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sleep 1
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done
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}
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function handle_tty() {
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tty=$(readlink -f $1)
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tty=${tty/'/dev/'}
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iface="$IFACE_BASENAME$NEXT_IFACE_INDEX"
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stty -F /dev/$tty ispeed 3000000 ospeed 3000000 || return 1
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slcan_attach -f -o -s$SPEED_CODE /dev/$tty || return 2
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slcand $tty || return 3
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sleep 1 # FIXME
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ifconfig $iface up || return 4
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NEXT_IFACE_INDEX=$((NEXT_IFACE_INDEX + 1))
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}
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NEXT_IFACE_INDEX=0
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IFACE_BASENAME='slcan'
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SPEED_CODE=8
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deinitialize
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while [ -n "$1" ]; do
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case $1 in
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-s[1-8])
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SPEED_CODE=${1:2}
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;;
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-*)
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die "Invalid option: $1"
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;;
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*)
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handle_tty $1 || die "Failed to configure the interface $1"
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;;
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esac
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shift
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done
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