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+<?xml version="1.0" encoding="ISO-8859-1"?>
+<!--
+This file is Copyright (c) 2010 by the GPSD project
+SPDX-License-Identifier: BSD-2-clause
+-->
+<!DOCTYPE refentry PUBLIC
+   "-//OASIS//DTD DocBook XML V4.1.2//EN"
+   "http://www.oasis-open.org/docbook/xml/4.1.2/docbookx.dtd">
+<refentry id='gpsinit.8'>
+<refentryinfo><date>18 Jan 2013</date></refentryinfo>
+<refmeta>
+<refentrytitle>gpsinit</refentrytitle>
+<manvolnum>8</manvolnum>
+<refmiscinfo class="source">The GPSD Project</refmiscinfo>
+<refmiscinfo class="manual">GPSD Documentation</refmiscinfo>
+</refmeta>
+<refnamediv id='name'>
+<refname>gpsinit</refname>
+<refpurpose>initialize CAN kernel modules for GPSD</refpurpose>
+</refnamediv>
+<refsynopsisdiv id='synopsis'>
+
+<cmdsynopsis>
+  <command>gpsinit</command>
+      <arg choice='opt'>-n <replaceable>control</replaceable></arg>
+      <arg choice='opt'>-s <replaceable>speed</replaceable></arg>
+      <arg choice='plain'><replaceable>module_name</replaceable></arg>
+      <arg choice='opt'><replaceable>interface_name</replaceable></arg>
+</cmdsynopsis>
+<cmdsynopsis>
+  <command>gpsinit</command>
+      <arg choice='plain'>-h </arg>
+</cmdsynopsis>
+<cmdsynopsis>
+  <command>gpsinit</command>
+      <arg choice='plain'>-v </arg>
+</cmdsynopsis>
+</refsynopsisdiv>
+
+<refsect1 id='description'><title>DESCRIPTION</title>
+
+<para><application>gpsinit</application> initializes whatever
+kernel-level modules are needed to enable special non-serial hardware
+to communicate with a gpsd instance.  Note: it will need root permissions
+to load modules and perform other special operations, such as changing
+kernel-interface baudrates.</para>
+
+<para>At present, all modes of this tool are concerned with setting up
+kernel-level interfaces to hardware on a CAN (Control Area Network) speaking
+NMEA2000.</para>
+
+<para>The program accepts the following options:</para>
+<variablelist remap='TP'>
+
+<varlistentry>
+<term>-h</term>
+<listitem>
+<para>Display a brief help text.</para>
+</listitem>
+</varlistentry>
+
+<varlistentry>
+<term>-v</term>
+<listitem>
+<para>Display the version of <application>gpsinit</application>.</para>
+</listitem>
+</varlistentry>
+
+<varlistentry>
+<term>-n</term>
+<listitem>
+<para>Set the CAN network number. The default is 0.</para>
+</listitem>
+</varlistentry>
+
+<varlistentry>
+<term>-s</term>
+<listitem>
+<para>Set the baudrate to be used to communicate over the serial line
+to the CAN hardware. The default is 38400 baud.</para>
+</listitem>
+</varlistentry>
+</variablelist>
+
+<para>The parameter <parameter>module_name</parameter> is mandatory.  The
+socket CAN driver module <parameter>module_name</parameter>.ko will be
+loaded.  <command>gpsinit</command> recognize the following module
+names:
+
+<variablelist>
+<varlistentry>
+<term>plx_pci</term>
+<term>esd_usb2</term>
+<term>vcan</term>
+<term>slcan</term>
+<listitem>
+<para>
+The parameter <parameter>interface_name</parameter> and <parameter>-s
+<replaceable>speed</replaceable></parameter> can used here.
+</para>
+</listitem>
+</varlistentry>
+<varlistentry><term>beaglebone</term>
+<listitem>
+<para> The dcan module needed for the beaglebone is part of the Linux kernel,
+so no module is loaded in this case.</para>
+</listitem>
+</varlistentry>
+</variablelist>
+</para>
+
+<para>The parameter <parameter>interface_name</parameter> is needed for
+slcan hardware only.  It gives the name of the serial device to which the SL
+CAN hardware is connected. The default is /dev/ttyUSB0.
+</para>
+</refsect1>
+
+<refsect1 id='examples'><title>EXAMPLES</title>
+
+<variablelist>
+<varlistentry>
+<term><command>sudo gpsinit  plx_pci</command></term>
+<listitem>
+<para>Attempt to load the module plx_pci and initialize net 0 for the
+connection to a NMEA2000 network. It will set the baudrate to
+250kBits.</para>
+</listitem>
+</varlistentry>
+<varlistentry>
+<term><command>sudo gpsinit  -n 1 plx_pci</command></term>
+<listitem>
+<para>As above, but use net 1.</para>
+</listitem>
+</varlistentry>
+<varlistentry>
+<term><command>sudo gpsinit  -s 38400 slcan /dev/ttyUSB0</command></term>
+<listitem>
+<para>Attempt to load the module slcan and talk to the hardware at
+38400 baud connected to port /dev/ttyUSB0.</para>
+</listitem>
+</varlistentry>
+
+<varlistentry>
+<term><command>gpsinit -h </command></term>
+<listitem>
+<para>Display a brief help message.</para>
+</listitem>
+</varlistentry>
+<varlistentry>
+<term><command>gpsinit -v </command></term>
+<listitem>
+<para>Display the version of gpsinit.</para>
+</listitem>
+</varlistentry>
+</variablelist>
+</refsect1>
+
+<refsect1 id='see_also'><title>SEE ALSO</title>
+<para>
+<citerefentry><refentrytitle>gpsd</refentrytitle><manvolnum>8</manvolnum></citerefentry>,
+<citerefentry><refentrytitle>gps</refentrytitle><manvolnum>1</manvolnum></citerefentry>,
+<citerefentry><refentrytitle>libgps</refentrytitle><manvolnum>3</manvolnum></citerefentry>,
+<citerefentry><refentrytitle>libgpsmm</refentrytitle><manvolnum>3</manvolnum></citerefentry>.
+</para>
+</refsect1>
+
+<refsect1 id='maintainer'><title>AUTHOR</title>
+<para>Reinhard Arlt <email>reinhard.arlt@t-online.de</email>.</para>
+</refsect1>
+</refentry>