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 | 27 |
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, ×tamp_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; } |