2 * Copyright (C) 2015, 2016 "IoT.bzh"
3 * Author "Romain Forlot" <romain.forlot@iot.bzh>
4 * Author "Loic Collignon" <loic.collignon@iot.bzh>
6 * Licensed under the Apache License, Version 2.0 (the "License");
7 * you may not use this file except in compliance with the License.
8 * You may obtain a copy of the License at
10 * http://www.apache.org/licenses/LICENSE-2.0
12 * Unless required by applicable law or agreed to in writing, software
13 * distributed under the License is distributed on an "AS IS" BASIS,
14 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
15 * See the License for the specific language governing permissions and
16 * limitations under the License.
19 #include <linux/can.h>
20 #include <linux/can/raw.h>
22 #include <afb/afb-binding.h>
24 #include "can-utils.h"
26 void can_reader(CanBus_c *can_bus))
30 CanMessage_c can_message;
31 canfd_frame canfd_frame;
33 /* Test that socket is really opened */
34 if ( can_bus->socket < 0)
36 ERROR(interface, "read_can: Socket unavailable");
42 nbytes = read(can_bus->socket, &canfd_frame, CANFD_MTU);
47 DEBUG(interface, "read_can: Got an CAN FD frame with length %d", canfd_frame.len);
48 maxdlen = CANFD_MAX_DLEN;
51 DEBUG(interface, "read_can: Got a legacy CAN frame with length %d", canfd_frame.len);
52 maxdlen = CAN_MAX_DLEN;
55 if (errno == ENETDOWN)
56 ERROR(interface, "read_can: %s interface down", device);
58 ERROR(interface, "read_can: Error reading CAN bus");
62 can_message.convert_from_canfd_frame(canfd_frame);
64 can_message_q.push(can_message);