sl-jetson
a4a2953326
New packages: - saltybot_dronecan_gps: DroneCAN driver for CubePilot Here4 RTK GPS - Subscribes uavcan.equipment.gnss.Fix2 (ID 1063) on can0 at 1Mbps - Publishes /gps/fix (NavSatFix), /gps/vel (TwistStamped), /gps/rtk_status - Maps DroneCAN fix_type 0-6 → sensor_msgs NavSatStatus + RTK label - Optional compass via uavcan.equipment.ahrs.MagneticFieldStrength - saltybot_ntrip_client: NTRIP RTCM3 → DroneCAN RTCMStream forwarding - Connects to rtk2go.com:2101 (configurable), auto-reconnects - Forwards corrections to Here4 via uavcan.equipment.gnss.RTCMStream - Publishes /ntrip/status (CONNECTED / DISCONNECTED / ERROR:<reason>) New launch file: - here4_gps.launch.py: launches both nodes with unified CAN + NTRIP params Updated: - can_setup.sh: adds 1Mbps DroneCAN mode (sudo ./can_setup.sh up dronecan) keeping 500kbps VESC default; CAN_BITRATE env var still overrides both - docker-compose.yml: adds here4-gps service with /dev/can0 device passthrough and NET_ADMIN cap; resolves leftover merge conflict markers - outdoor_nav_params.yaml: adds Here4 config section, updates RTK docs Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
71 lines
2.0 KiB
Bash
Executable File
71 lines
2.0 KiB
Bash
Executable File
#!/usr/bin/env bash
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# can_setup.sh — Bring up CANable 2.0 (gs_usb) as can0
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# Issue: https://gitea.vayrette.com/seb/saltylab-firmware/issues/643
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#
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# Usage:
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# sudo ./can_setup.sh # bring up (default: 500kbps for VESC)
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# sudo ./can_setup.sh up dronecan # bring up at 1Mbps for Here4 DroneCAN
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# sudo ./can_setup.sh down
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# sudo ./can_setup.sh verify # candump one-shot check (Ctrl-C to stop)
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#
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# Bitrate modes:
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# default / vesc — 500 kbps (VESC IDs 0x3D/0x4F)
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# dronecan / here4 — 1000 kbps (CubePilot Here4 RTK GPS, DroneCAN default)
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#
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# CAN_BITRATE env var overrides both modes.
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set -euo pipefail
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IFACE="${CAN_IFACE:-can0}"
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log() { echo "[can_setup] $*"; }
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die() { echo "[can_setup] ERROR: $*" >&2; exit 1; }
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cmd="${1:-up}"
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mode="${2:-vesc}"
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# Resolve bitrate: env var wins, then mode keyword, then 500k default
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if [[ -n "${CAN_BITRATE:-}" ]]; then
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BITRATE="$CAN_BITRATE"
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elif [[ "$mode" == "dronecan" || "$mode" == "here4" ]]; then
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BITRATE=1000000
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else
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BITRATE=500000
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fi
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case "$cmd" in
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up)
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# Verify the interface exists (gs_usb module loaded by kernel on plug-in)
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if ! ip link show "$IFACE" &>/dev/null; then
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die "$IFACE not found — is CANable 2.0 plugged in and gs_usb loaded?"
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fi
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log "Bringing up $IFACE at ${BITRATE} bps (mode: ${mode})..."
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ip link set "$IFACE" down 2>/dev/null || true
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ip link set "$IFACE" up type can bitrate "$BITRATE"
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ip link set "$IFACE" up
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log "$IFACE is up."
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ip -details link show "$IFACE"
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;;
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down)
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log "Bringing down $IFACE..."
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ip link set "$IFACE" down
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log "$IFACE is down."
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;;
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verify)
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if [[ "$mode" == "dronecan" || "$mode" == "here4" ]]; then
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log "Listening on $IFACE — expecting DroneCAN frames from Here4 GPS (1Mbps)"
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else
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log "Listening on $IFACE — expecting frames from VESC IDs 0x3D (61) and 0x4F (79)"
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fi
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log "Press Ctrl-C to stop."
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exec candump "$IFACE"
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;;
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*)
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echo "Usage: $0 [up [vesc|dronecan]|down|verify [dronecan]]"
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exit 1
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;;
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esac
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