diff options
Diffstat (limited to 'CAN-binder/low-can-binding/can/can-bus-dev.cpp')
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-bus-dev.cpp | 14 |
1 files changed, 8 insertions, 6 deletions
diff --git a/CAN-binder/low-can-binding/can/can-bus-dev.cpp b/CAN-binder/low-can-binding/can/can-bus-dev.cpp index a1c6fcda..81e8f30d 100644 --- a/CAN-binder/low-can-binding/can/can-bus-dev.cpp +++ b/CAN-binder/low-can-binding/can/can-bus-dev.cpp @@ -53,20 +53,21 @@ uint32_t can_bus_dev_t::get_address() const /// @return -1 if something wrong. int can_bus_dev_t::open(bool bcm) { - const int canfd_on = 1; - const int timestamp_on = 1; - struct timeval timeout; - DEBUG(binder_interface, "open_raw: CAN Handler socket : %d", can_socket_.socket()); return can_socket_.open(device_name_, bcm); +} // Set some option on the socket : timeout, timestamp and canfd frame usage. +void can_bus_dev_t::configure() +{ if (can_socket_) { - DEBUG(binder_interface, "open_raw: CAN Handler socket correctly initialized : %d", can_socket_.socket()); + const int timestamp_on = 1; + const int canfd_on = 1; // Set timeout for read can_socket_.setopt(SOL_SOCKET, SO_RCVTIMEO, (char *)&timeout, sizeof(timeout)); + DEBUG(binder_interface, "open_raw: CAN Handler socket correctly initialized : %d", can_socket_.socket()); // Set timestamp for receveid frame if (can_socket_.setopt(SOL_SOCKET, SO_TIMESTAMP, ×tamp_on, sizeof(timestamp_on)) < 0) @@ -86,8 +87,9 @@ int can_bus_dev_t::open(bool bcm) } } else + { ERROR(binder_interface, "open_raw: socket could not be created. Error was : %s", ::strerror(errno)); - return -1; + } } /// @brief Close the bus. |