Separation between hat and callback binding parts

[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 c0ebca1..bc6f858 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));
        }