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croissant
73 lines
1.9 KiB
Bash
Executable File
73 lines
1.9 KiB
Bash
Executable File
#!/bin/bash
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# Setup all OpenArms CAN interfaces with CAN FD
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set -e
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echo "=========================================="
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echo "OpenArms CAN FD Interface Setup"
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echo "=========================================="
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echo ""
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echo "Mode: CAN FD"
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echo " - Nominal bitrate: 1 Mbps"
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echo " - Data bitrate: 5 Mbps"
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echo ""
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echo "Configuring interfaces can0, can1, can2, can3..."
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echo ""
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# Configure each CAN interface with CAN FD
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for i in 0 1 2 3; do
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interface="can$i"
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# Check if interface exists
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if ! ip link show "$interface" &> /dev/null; then
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echo "⚠ $interface: Not found, skipping"
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continue
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fi
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# Bring down interface
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sudo ip link set "$interface" down 2>/dev/null
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# Configure CAN FD mode
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sudo ip link set "$interface" type can \
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bitrate 1000000 \
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dbitrate 5000000 \
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fd on
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# Bring up interface
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sudo ip link set "$interface" up
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# Verify configuration
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if ip link show "$interface" | grep -q "UP"; then
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echo "✓ $interface: Configured and UP"
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else
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echo "✗ $interface: Failed to bring UP"
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fi
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done
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echo ""
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echo "=========================================="
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echo "Verification"
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echo "=========================================="
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echo ""
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# Show detailed status for each interface
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for i in 0 1 2 3; do
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interface="can$i"
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if ip link show "$interface" &> /dev/null; then
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echo "$interface:"
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# Show key parameters
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ip -d link show "$interface" | grep -E "can|state|bitrate|dbitrate" | head -3
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echo ""
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fi
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done
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echo "=========================================="
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echo "Setup Complete!"
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echo "=========================================="
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echo ""
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echo "All interfaces configured for CAN FD mode"
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echo ""
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echo "Next steps:"
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echo " 1. Test motors: python debug_can_communication.py"
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echo " 2. Run teleoperation: python examples/openarms/teleop.py"
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echo "" |