gpsinit

#!/bin/sh
#
# gpsinit - initialize kernel-CAN interfaces
#
# This file is Copyright 2012 by the GPSD project.
# SPDX-License-Identifier: BSD-2-clause
#

net=0

version()
{
    echo "$(basename "$0") : Version v0.21";
}

usage()
{
    version; echo;
    echo "usage : $(basename "$0") [-n <netnumber>] <can_module_name> [<interface_name>]";
    echo "      : $(basename "$0") -V";
    echo "      : $(basename "$0") -h";
    echo "  Options include:";
    echo "  -?              = Print this help message and exit.";
    echo "  -h              = Print this help message and exit.";
    echo "  -n              = CAN network number, 0 if not given.";
    echo "  -V              = Print version of this script 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).";
}

# -v for version is deprecated 2020
while getopts :n:s:vVh opt
do
    case ${opt} in
        h)  usage; exit 0;;
        n)  net=${OPTARG};;
        s)  ;; # unused
        \?) usage; exit 1;;
        v)  version; exit 0;;
        V)  version; exit 0;;
    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

# vim: set expandtab shiftwidth=4