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-rw-r--r--CAN-binder/low-can-binding/can/can-bus-dev.cpp8
-rw-r--r--CAN-binder/low-can-binding/can/can-bus-dev.hpp4
2 files changed, 10 insertions, 2 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 07f921f2..99cad710 100644
--- a/CAN-binder/low-can-binding/can/can-bus-dev.cpp
+++ b/CAN-binder/low-can-binding/can/can-bus-dev.cpp
@@ -67,8 +67,16 @@ 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());
+
+ // 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: %s", __FUNCTION__, ::strerror(errno));
+ }
+
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));
}
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 8b4cf47e..e9c2d207 100644
--- a/CAN-binder/low-can-binding/can/can-bus-dev.hpp
+++ b/CAN-binder/low-can-binding/can/can-bus-dev.hpp
@@ -22,7 +22,7 @@
#include <string>
#include <thread>
-#include "../utils/socketcan.hpp"
+#include "../utils/socketcan-raw.hpp"
class can_bus_t;
class can_message_t;
@@ -34,7 +34,7 @@ class can_bus_dev_t
{
private:
std::string device_name_; ///< a string identifier identitfying the linux CAN device.
- utils::socketcan_t can_socket_;
+ utils::socketcan_raw_t can_socket_;
int index_;