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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.cpp27
1 files changed, 4 insertions, 23 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 5c484eed..d097dc66 100644
--- a/CAN-binder/low-can-binding/can/can-bus-dev.cpp
+++ b/CAN-binder/low-can-binding/can/can-bus-dev.cpp
@@ -50,13 +50,10 @@ uint32_t can_bus_dev_t::get_address() const
/// We try to open CAN socket and apply the following options
/// timestamp received messages and pass the socket to FD mode.
///
-/// @param[in] bcm boolean value indicating wether or not we initialize a Broadcast CAN Manager socket.
-///
/// @return socket value or -1 if something wrong.
-int can_bus_dev_t::open(bool bcm)
+int can_bus_dev_t::open()
{
- DEBUG(binder_interface, "%s: CAN Handler using BCM socket ? %s", __FUNCTION__, bcm ? "true" : "false");
- return can_socket_.open(device_name_, bcm);
+ return can_socket_.open(device_name_);
}
/// @brief Set some option on the socket, timestamp and canfd frame usage.
@@ -65,26 +62,10 @@ void can_bus_dev_t::configure()
if (can_socket_)
{
const int timestamp_on = 1;
- const int canfd_on = 1;
DEBUG(binder_interface, "%s: CAN Handler socket correctly initialized : %d", __FUNCTION__, can_socket_.socket());
-
- // Set timestamp for receveid frame
if (can_socket_.setopt(SOL_SOCKET, SO_TIMESTAMP, &timestamp_on, sizeof(timestamp_on)) < 0)
WARNING(binder_interface, "%s: setsockopt SO_TIMESTAMP error: %s", __FUNCTION__, ::strerror(errno));
- DEBUG(binder_interface, "%s: Switch CAN Handler socket to use fd mode", __FUNCTION__);
-
- // try to switch the socket into CAN_FD mode
- if (can_socket_.setopt(SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on)) < 0)
- {
- NOTICE(binder_interface, "%s: Can not switch into CAN Extended frame format.", __FUNCTION__);
- is_fdmode_on_ = false;
- }
- else
- {
- DEBUG(binder_interface, "%s: Correctly set up CAN socket to use FD frames.", __FUNCTION__);
- is_fdmode_on_ = true;
- }
}
else
{
@@ -188,7 +169,7 @@ int can_bus_dev_t::send(can_message_t& can_msg)
else
{
ERROR(binder_interface, "send_can_message: socket not initialized. Attempt to reopen can device socket.");
- open(true);
+ open();
return -1;
}
return 0;
@@ -226,7 +207,7 @@ bool can_bus_dev_t::shims_send(const uint32_t arbitration_id, const uint8_t* dat
else
{
ERROR(binder_interface, "send_can_message: socket not initialized. Attempt to reopen can device socket.");
- open(true);
+ open();
}
return false;
}