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feat: add CAN setup scripts
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‎README.md‎

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@@ -102,7 +102,7 @@ Each time you start a **new** docker container, run `container_setup.sh`. This w
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TODO: Populate
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## How to?
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## How to? / Knowledge Base
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### Add new hardware setup
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@@ -156,3 +156,6 @@ Sometimes after connecting quest, the device is not discoverable. Do the followi
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2. Go to Quest notification menu and click on USB detected notification to allow connection
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3. Run `adb devices`, if device ID is shown then it should work. If restricted, then quest should have a pop up requestion USB connection again (different UI).
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4. If nothing shows, do `adb kill-server` then repeat step 3.
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### CAN Bus Settings
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`sjw` is some bit timing parameter of CAN bus. It defaults to different value on different systems, so the `scripts/configure_socketcan.sh` set it to `21`. This seems to be okay from testing. If you need tighter or looser clock timing (affect message errors), then adjust as needed.

‎scripts/configure_socketcan.sh‎

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#!/bin/bash
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#
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# Copyright 2025 Enactic, Inc.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http:#www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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set -eu
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# Simple CAN Interface Setup Script
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# Usage: script/configure_socketcan.sh <interface> [options]
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# Default values
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BITRATE=1000000
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DBITRATE=5000000
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FD_MODE=false
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SJW=21
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# Show usage
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usage() {
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echo "Usage: $0 <can_interface> [options]"
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echo ""
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echo "Options:"
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echo " -fd Enable CAN FD mode (default: CAN 2.0)"
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echo " -b <bitrate> Set bitrate (default: 1000000)"
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echo " -d <dbitrate> Set CAN FD data bitrate (default: 5000000)"
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echo " -h Show help"
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echo ""
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echo "Examples:"
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echo " $0 can0 # CAN 2.0 at 1Mbps"
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echo " $0 can0 -fd # CAN FD at 1Mbps/5Mbps"
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echo " $0 can0 -b 500000 # CAN 2.0 at 500kbps"
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echo " $0 can0 -fd -d 8000000 # CAN FD with 8Mbps data rate"
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}
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# Check if interface provided
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if [ -z "$1" ]; then
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echo "Error: Specify CAN interface (e.g., can0)"
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usage
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exit 1
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fi
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CAN_IF=$1
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shift
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# Parse options
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while [[ $# -gt 0 ]]; do
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case $1 in
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-fd)
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FD_MODE=true
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shift
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;;
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-b)
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BITRATE="$2"
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shift 2
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;;
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-d)
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DBITRATE="$2"
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shift 2
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;;
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-h)
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usage
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exit 0
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;;
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-s)
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SJW="$2"
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shift 2
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;;
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*)
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echo "Error: Unknown option '$1'"
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usage
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exit 1
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;;
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esac
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done
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# Check if interface exists
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if ! ip link show "$CAN_IF" &>/dev/null; then
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echo "Error: CAN interface '$CAN_IF' not found"
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echo "Available interfaces:"
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ip link show | grep -E "can[0-9]" | cut -d: -f2 | tr -d ' ' || echo " No CAN interfaces found"
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exit 1
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fi
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# Configure CAN interface
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echo "Configuring $CAN_IF..."
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if ! sudo ip link set "$CAN_IF" down; then
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echo "Error: Failed to bring down $CAN_IF"
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exit 1
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fi
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if [ "$FD_MODE" = true ]; then
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if ! sudo ip link set "$CAN_IF" type can bitrate "$BITRATE" dbitrate "$DBITRATE" fd on sjw "$SJW"; then
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echo "Error: Failed to configure CAN FD mode"
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exit 1
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fi
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echo "$CAN_IF is now set to CAN FD mode (${BITRATE} bps / ${DBITRATE} bps) sjw $SJW"
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else
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if ! sudo ip link set "$CAN_IF" type can bitrate "$BITRATE" sjw "$SJW"; then
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echo "Error: Failed to configure CAN 2.0 mode"
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exit 1
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fi
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echo "$CAN_IF is now set to CAN 2.0 mode (${BITRATE} bps) sjw $SJW"
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fi
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if ! sudo ip link set "$CAN_IF" up; then
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echo "Error: Failed to bring up $CAN_IF"
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exit 1
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fi
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echo "✓ $CAN_IF is active"

‎scripts/setup_can.sh‎

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#!/bin/bash
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SCRIPT_DIR=$(dirname "${BASH_SOURCE[0]}")
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check_and_configure_socketcan() {
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local interface="${1:-}"
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if [[ -z "$interface" ]]; then
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return "Usage: check_and_configure_socketcan <interface>"
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fi
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if ip link show "$interface" &>/dev/null; then
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echo "[OK] Interface '$interface' found"
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else
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echo "[ERROR] Interface '$interface' not found"
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return 1
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fi
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echo "[INFO] Configuring SocketCAN"
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if ! "$SCRIPT_DIR/configure_socketcan.sh" "$interface"; then
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echo "[ERROR] Failed to configure $interface"
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return 1
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fi
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echo "[DONE] Configured $interface"
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}
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check_and_configure_socketcan can_left
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check_and_configure_socketcan can_right

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