diff options
Diffstat (limited to 'CAN-binder/low-can-binding/can')
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-bus-dev.cpp | 14 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-bus-dev.hpp | 1 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-bus.cpp | 1 |
3 files changed, 10 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. diff --git a/CAN-binder/low-can-binding/can/can-bus-dev.hpp b/CAN-binder/low-can-binding/can/can-bus-dev.hpp index 8cafaf83..96aa373e 100644 --- a/CAN-binder/low-can-binding/can/can-bus-dev.hpp +++ b/CAN-binder/low-can-binding/can/can-bus-dev.hpp @@ -51,6 +51,7 @@ public: uint32_t get_address() const; int open(bool bcm=false); + void configure(); int close(); void start_reading(can_bus_t& can_bus); diff --git a/CAN-binder/low-can-binding/can/can-bus.cpp b/CAN-binder/low-can-binding/can/can-bus.cpp index 4775b4fe..5d8221c0 100644 --- a/CAN-binder/low-can-binding/can/can-bus.cpp +++ b/CAN-binder/low-can-binding/can/can-bus.cpp @@ -239,6 +239,7 @@ int can_bus_t::init_can_dev() can_bus_t::can_devices_[device] = std::make_shared<can_bus_dev_t>(device, i); if (can_bus_t::can_devices_[device]->open(true) >= 0) { + can_bus_t::can_devices_[device]->configure(); DEBUG(binder_interface, "Start reading thread"); NOTICE(binder_interface, "%s device opened and reading", device.c_str()); can_bus_t::can_devices_[device]->start_reading(*this); |