scripts

Scripts

This directory contains a series of useful scripts related to working with CAN bus.

Tip

Copy these script to home directory on Pika Spark for easy access

• setup_can.sh: Brings up the CAN interface on Pika Spark

• setup_slcan.sh: Pavel Kirienko's script to set up SLCAN. Called by setup_slcan.sh. Has a few command line arguments so call --help to learn how to call it.

  Note: This is old version of setup_slcan.sh used with UAVCAN, but it is exactly the same

• setup_vcan.sh: Sets up vcan on development host. Bitrate irrelevant as it is entirely virtual.

• setup_yakut_slcan.sh: Calls setup_slcan.sh internally, and exports a few environment variables needed for use with yakut. Source this script.

• setup_yakut_vcan.sh: Calls setup_vcan.sh internally, and exports a few environment variables needed for use with yakut. Source this script.

• build.sh: Call from root of ROS 2 Workspace, not package root! Need to add yourself to docker group. Execute with --help flag for usage.

Note

CAN is using 1 Mbps bitrate right now. Change speed code in setup_yakut_slcan.sh or bitrate in setup_can.sh if decide to use something else. The ESCs will need to be updated accordingly too (restart ESC for it to be stored in EEPROM).

Technically, slcan and can are different, with the former being an ASCII based protocol that Zubax Babel uses, and the latter being a physical interface that a laptp does not have. For sake of simplicity though, the basename has been set to can when setting up the interface. This way, can can represent 'hardware' while vcan can represent the 'virtual' bus.