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Update configurations for new jetson orin nx #334

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Aug 8, 2024
Merged

Update configurations for new jetson orin nx #334

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11 changes: 3 additions & 8 deletions enable_CAN.sh
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Original file line number Diff line number Diff line change
@@ -1,21 +1,16 @@
#!/bin/bash

CAN_BITRATE="${CAN_BITRATE:-125000}"
CAN_DBITRATE="${CAN_DBITRATE:-500000}"
CAN_DBITRATE="${CAN_DBITRATE:-125000}"

sudo modprobe can
sudo modprobe can_raw
sudo modprobe mttcan

sudo ip link set can0 type can bitrate "${CAN_BITRATE}" dbitrate "${CAN_DBITRATE}" \
berr-reporting on fd on
sudo ip link set can1 type can bitrate "${CAN_BITRATE}" dbitrate "${CAN_DBITRATE}" \
berr-reporting on fd on
berr-reporting on fd on restart-ms 100
sudo ip link set up can0
sudo ip link set up can1

if [[ $? != 0 ]]; then
echo "Could not enable hardware CAN interface; using virtual CAN instead."
sudo ip link add type vcan
sudo ip link set dev vcan0 up
echo "Error enabling can0 interface!"
fi
11 changes: 3 additions & 8 deletions enable_CAN_and_GPS.sh
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Original file line number Diff line number Diff line change
@@ -1,24 +1,19 @@
#!/bin/bash

CAN_BITRATE=125000
CAN_DBITRATE=500000
CAN_DBITRATE=125000
GPS_PATH="/dev/ttyUSB0"

sudo modprobe can
sudo modprobe can_raw
sudo modprobe mttcan

sudo ip link set can0 type can bitrate "${CAN_BITRATE}" dbitrate "${CAN_DBITRATE}" \
berr-reporting on fd on
sudo ip link set can1 type can bitrate "${CAN_BITRATE}" dbitrate "${CAN_DBITRATE}" \
berr-reporting on fd on
berr-reporting on fd on restart-ms 100
sudo ip link set up can0
sudo ip link set up can1

if [[ $? != 0 ]]; then
echo "Could not enable hardware CAN interface; using virtual CAN instead."
sudo ip link add type vcan
sudo ip link set dev vcan0 up
echo "Error enabling can0 interface!"
fi

# For some reason, on the rover, the gpsd that starts on boot does not
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6 changes: 3 additions & 3 deletions rover-config/50-rover-cameras.rules
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Expand Up @@ -7,10 +7,10 @@
# Install this in /etc/udev/rules.d

# Hand camera
SUBSYSTEM=="video4linux", ATTRS{idVendor}=="0c45", ATTRS{idProduct}=="6369", KERNELS=="1-2.1", SYMLINK+="video20"
SUBSYSTEM=="video4linux", ATTRS{idVendor}=="0c45", ATTRS{idProduct}=="6369", ATTR{index}=="0", SYMLINK+="video20"

# Forearm camera
SUBSYSTEM=="video4linux", ATTRS{idVendor}=="32e4", ATTRS{idProduct}=="9230", KERNELS=="1-2.1", SYMLINK+="video30"
SUBSYSTEM=="video4linux", ATTRS{idVendor}=="32e4", ATTRS{idProduct}=="9230", ATTR{index}=="0", SYMLINK+="video30"

# Mast camera
SUBSYSTEM=="video4linux", ATTRS{idVendor}=="05a3", ATTRS{idProduct}=="9230", KERNELS=="1-2.4.4", SYMLINK+="video40"
SUBSYSTEM=="video4linux", ATTRS{idVendor}=="05a3", ATTRS{idProduct}=="9230", ATTR{index}=="0", SYMLINK+="video40"
7 changes: 5 additions & 2 deletions src/CAN/CAN.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -264,13 +264,16 @@ void initCAN() {
}

void sendCANPacket(const CANPacket& packet) {
can_frame frame;
canfd_frame frame;
std::memset(&frame, 0, sizeof(frame));
frame.can_id = packet.id;
frame.can_dlc = packet.dlc;
frame.len = packet.dlc;
std::memcpy(frame.data, packet.data, packet.dlc);
bool success;
{
std::lock_guard lock(socketMutex);
// note that frame is a canfd_frame but we're using sizeof(can_frame)
// not sure why this is required to work
success = write(can_fd, &frame, sizeof(struct can_frame)) == sizeof(struct can_frame);
tcdrain(can_fd);
}
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1 change: 1 addition & 0 deletions src/world_interface/real_world_interface.cpp
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Expand Up @@ -113,6 +113,7 @@ void openCamera(CameraID camID, const char* cameraPath) {

void setupCameras() {
openCamera(Constants::MAST_CAMERA_ID, Constants::MAST_CAMERA_CONFIG_PATH);
openCamera(Constants::FOREARM_CAMERA_ID, Constants::FOREARM_CAMERA_CONFIG_PATH);
openCamera(Constants::HAND_CAMERA_ID, Constants::HAND_CAMERA_CONFIG_PATH);
}
} // namespace
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