diff options
Diffstat (limited to 'src/can/can-bus-dev.cpp')
| -rw-r--r-- | src/can/can-bus-dev.cpp | 12 |
1 files changed, 6 insertions, 6 deletions
diff --git a/src/can/can-bus-dev.cpp b/src/can/can-bus-dev.cpp index 5166550..c64242d 100644 --- a/src/can/can-bus-dev.cpp +++ b/src/can/can-bus-dev.cpp @@ -24,15 +24,15 @@ #include "can-bus-dev.hpp" #include "low-can-binding.hpp" -/// @brief Class constructor +/// @brief Class constructor /// @param dev_name String representing the device name into the linux /dev tree can_bus_dev_t::can_bus_dev_t(const std::string& dev_name) : device_name_{dev_name} { } -/// @brief Open the can socket and returning it -/// @return -1 +/// @brief Open the can socket and returning it +/// @return -1 int can_bus_dev_t::open() { const int canfd_on = 1; @@ -47,15 +47,15 @@ int can_bus_dev_t::open() if (can_socket_) { DEBUG(binder_interface, "CAN Handler socket correctly initialized : %d", can_socket_.socket()); - + // Set timeout for read can_socket_.setopt(SOL_SOCKET, SO_RCVTIMEO, (char *)&timeout, sizeof(timeout)); - + // Set timestamp for receveid frame if (can_socket_.setopt(SOL_SOCKET, SO_TIMESTAMP, ×tamp_on, sizeof(timestamp_on)) < 0) WARNING(binder_interface, "setsockopt SO_TIMESTAMP error: %s", ::strerror(errno)); DEBUG(binder_interface, "Switch CAN Handler socket to use fd mode"); - + // 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) { |