X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=CAN-binder%2Flow-can-binding%2Fcan%2Fcan-bus-dev.cpp;h=601881db4918c7a719e0535aa497046d7f56c955;hb=ae74dbcb89f3d471b66e1f1d2fe4bdf33cfff388;hp=07f921f2758a9e1f64d31e47c4f4a5e621ead622;hpb=10e7cf8b0d84be658069f60e5dd4831ec202cd70;p=apps%2Fagl-service-can-low-level.git

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..601881db 100644
--- 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));
 	}