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[linux] Enable SocketCAN to receive FDCan frames #1220

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merged 2 commits into from
Nov 6, 2024
Merged

[linux] Enable SocketCAN to receive FDCan frames #1220

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b8edf5b
[linux] Replace deprecated can_dlc with len
Javask Oct 30, 2024
a90537c
[linux] Enable FDCAN in socketcan
Javask Oct 30, 2024
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40 changes: 31 additions & 9 deletions src/modm/platform/can/socketcan/socketcan.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -3,6 +3,7 @@
* Copyright (c) 2017, Fabian Greif
* Copyright (c) 2017, Niklas Hauser
* Copyright (c) 2023, Christopher Durand
* Copyright (c) 2024, Michael Jossen
*
* This file is part of the modm project.
*
Expand Down Expand Up @@ -47,6 +48,16 @@ modm::platform::SocketCan::open(std::string deviceName)
return false;
}

/* Enable FDCAN support */
int recv_can_fd = 1;
if (setsockopt(skt, SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &recv_can_fd, sizeof(recv_can_fd)) < 0)
{
MODM_LOG_ERROR << MODM_FILE_INFO;
MODM_LOG_ERROR << "Failed to enable FDCAN support: " << strerror(errno) << modm::endl;
close();
return false;
}

/* Locate the interface you wish to use */
struct ifreq ifr{};
if (deviceName.empty() || deviceName.size() > IFNAMSIZ - 1) {
Expand Down Expand Up @@ -103,8 +114,8 @@ modm::platform::SocketCan::getBusState()
bool
modm::platform::SocketCan::isMessageAvailable()
{
struct can_frame frame;
int nbytes = recv(skt, &frame, sizeof(struct can_frame), MSG_DONTWAIT | MSG_PEEK);
struct canfd_frame frame;
int nbytes = recv(skt, &frame, sizeof(struct canfd_frame), MSG_DONTWAIT | MSG_PEEK);

// recv returns 'Resource temporary not available' which is wired but ignored here.
/* if (nbytes < 0)
Expand All @@ -119,16 +130,22 @@ modm::platform::SocketCan::isMessageAvailable()
bool
modm::platform::SocketCan::getMessage(can::Message& message)
{
struct can_frame frame;
int nbytes = recv(skt, &frame, sizeof(struct can_frame), MSG_DONTWAIT);
struct canfd_frame frame;
int nbytes = recv(skt, &frame, sizeof(frame), MSG_DONTWAIT);

if (nbytes > 0)
{
if (frame.len > modm::can::Message::capacity)
{
MODM_LOG_ERROR << MODM_FILE_INFO;
MODM_LOG_ERROR << "Received can frame too big for configured buffer." << modm::endl;
return false;
}
message.identifier = frame.can_id;
message.setDataLengthCode(frame.can_dlc);
message.setLength(frame.len);
message.setExtended(frame.can_id & CAN_EFF_FLAG);
message.setRemoteTransmitRequest(frame.can_id & CAN_RTR_FLAG);
for (uint8_t ii = 0; ii < frame.can_dlc; ++ii) {
for (uint8_t ii = 0; ii < frame.len; ++ii) {
message.data[ii] = frame.data[ii];
}
return true;
Expand All @@ -139,8 +156,9 @@ modm::platform::SocketCan::getMessage(can::Message& message)
bool
modm::platform::SocketCan::sendMessage(const can::Message& message)
{
struct can_frame frame;
struct canfd_frame frame;

frame.flags = 0;
frame.can_id = message.identifier;
if (message.isExtended()) {
frame.can_id |= CAN_EFF_FLAG;
Expand All @@ -149,13 +167,17 @@ modm::platform::SocketCan::sendMessage(const can::Message& message)
frame.can_id |= CAN_RTR_FLAG;
}

frame.can_dlc = message.getLength();
frame.len = message.getLength();

for (uint8_t ii = 0; ii < message.getLength(); ++ii) {
frame.data[ii] = message.data[ii];
}

int bytes_sent = write( skt, &frame, sizeof(frame) );
// Send can_frame when length < 8, since other applications may not accept
// canfd_frame. Both structs intentionally share the same layout
// for this purpose
int size = message.getLength() > 8 ? sizeof(canfd_frame) : sizeof(can_frame);
int bytes_sent = write(skt, &frame, size);

return (bytes_sent > 0);
}
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