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[apps/agl-service-can-low-level.git] / CAN-binder / low-can-binding / can / can-bus-dev.cpp

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 07f921f..601881d 100644 (file)
--- a/CAN-binder/low-can-binding/can/can-bus-dev.cpp
+++ b/CAN-binder/low-can-binding/can/can-bus-dev.cpp
@@ -24,9 +24,7 @@
 
 #include "can-bus.hpp"
 #include "can-message.hpp"
-#include "../low-can-binding.hpp"
-#include "canutil/write.h"
-#include "bitfield/bitfield.h"
+#include "../binding/low-can-hat.hpp"
 
 /// @brief Class constructor
 ///
@@ -67,8 +65,16 @@ 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));
        }
@@ -98,7 +104,7 @@ can_message_t can_bus_dev_t::read()
        // Test that socket is really opened
        if (!can_socket_)
        {
-               ERROR(binder_interface, "read: Socket unavailable. Closing thread.");
+               ERROR(binder_interface, "%s: Socket unavailable. Closing thread.", __FUNCTION__);
                is_running_ = false;
        }
 
@@ -108,8 +114,8 @@ can_message_t can_bus_dev_t::read()
        if (nbytes != CANFD_MTU && nbytes != CAN_MTU)
        {
                if (errno == ENETDOWN)
-                       ERROR(binder_interface, "read: %s CAN device down", device_name_.c_str());
-               ERROR(binder_interface, "read: Incomplete CAN(FD) frame");
+                       ERROR(binder_interface, "%s: %s CAN device down", __FUNCTION__, device_name_.c_str());
+               ERROR(binder_interface, "%s: Incomplete CAN(FD) frame", __FUNCTION__);
                ::memset(&cfd, 0, sizeof(cfd));
        }