gpsinit

#!/bin/bash
#
# gpsinit - initialize kernel-CAN interfaces
#
# This file is Copyright (c) 2012 by the GPSD project.
# BSD terms apply: see the file COPYING in the distribution root for details.
#

speed=38400
net=0

version()
{
    echo `basename $0`" : Version v0.20";
}

usage()
{
    version; echo;
    echo "usage :" `basename $0` "[-n <netnumber>] [-s <serial speed>] <can_module_name> [<interface_name>]";
    echo "      :" `basename $0` "-v";
    echo "      :" `basename $0` "-h";
    echo "  Options include:";
    echo "  -n              = CAN network number, 0 if not given.";
    echo "  -s              = Speed of the slcan hardware port, 38400 if not given.";
    echo "                  = Needed for some slcan modules only.";
    echo "  -v              = Print version of this script and exit.";
    echo "  -h              = Print this help message and exit.";
    echo "  can_module_name = One out of plx_pci, esd_usb2, usb_8dev, vcan, slcan, beaglebone.";
    echo "  interface_name  = The interface, the SLCAN module is connected to, i.e. /dev/ttyS0 or /dev/ttyUSB0.";
    echo "                  = Needed for the slcan module only. The default is /dev/ttyUSB0.";
    echo "Root permissions are needed for the first calling option (Enforced by socketCAN subsystem).";
}

while getopts :n:s:vh opt
do
    case ${opt} in
        n)  net=${OPTARG};;
        s)  speed=${OPTARG};;
        v)  version; exit 0;;
        h)  usage; exit 0;;
        \?) usage; exit 1;;
    esac
done

shift $((${OPTIND} - 1))

candevice=$1
 
case ${candevice} in
plx_pci)
    # For the SJA1000 based PCI or PCI-Express CAN interface
    modprobe plx_pci;
    ip link set can${net} type can tq 250 prop-seg 6 phase-seg1 7 phase-seg2 2 sjw 1;
    ip link set can${net} up;;
esd_usb2)
    # For an esd usb/2 CAN interface
    modprobe esd_usb2;
    ip link set can${net} type can tq 250 prop-seg 6 phase-seg1 7 phase-seg2 2 sjw 1;
    ip link set can${net} up;;
usb_8dev)
    # For an 8devices usb2can CAN interface
    modprobe usb_8dev;
    ip link set can${net} type can tq 250 prop-seg 6 phase-seg1 7 phase-seg2 2 sjw 1;
    ip link set can${net} up;;
vcan)
    # With this setup, CAN frames can be injected into vcan0 by a test
    modprobe vcan;
    ip link add type vcan;
    ip link set vcan${net} up;;
slcan)
    # For a serial line CAN device
    # No support for devices, that need a setup of the baudrate yet
    device=${2:-/dev/ttyUSB0};
    modprobe slcan;
    slcan_attach -f -s5 -o ${device};
    slcand `basename ${device}`; 
    ip link set slcan${net} up;;
beaglebone)
    # For CAN interface on a BeagleBone
    # The d_can driver is part of the kernel
    ip link set can${net} type can bitrate 250000 sjw 1;
    ip link set can${net} up;;
*)
    echo `basename ${0}` ": invalid CAN interface ${1} net${net} device ${2:-(none)}"
    echo;
    usage;
    exit 1
esac