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fixup! HACK: Disable SO_TIMESTAMP in uavcan_v1 temporarily while bringing up H7 SocketCAN driver

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This commit is contained in:
JacobCrabill
2022-03-15 18:52:00 -07:00
parent f4f8eee02d
commit 399ab35a4f
1 changed files with 18 additions and 18 deletions
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src/drivers/uavcan_v1/CanardSocketCAN.cpp
+18 -18
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@@ -79,29 +79,29 @@ int CanardSocketCAN::init()
addr.can_family = AF_CAN;
addr.can_ifindex = ifr.ifr_ifindex;
// const int on = 1;
const int on = 1;
/* RX Timestamping */
// if (setsockopt(_fd, SOL_SOCKET, SO_TIMESTAMP, &on, sizeof(on)) < 0) {
// PX4_ERR("SO_TIMESTAMP is disabled");
// return -1;
// }
if (setsockopt(_fd, SOL_SOCKET, SO_TIMESTAMP, &on, sizeof(on)) < 0) {
PX4_ERR("SO_TIMESTAMP is disabled");
return -1;
}
// /* NuttX Feature: Enable TX deadline when sending CAN frames
// * When a deadline occurs the driver will remove the CAN frame
// */
/* NuttX Feature: Enable TX deadline when sending CAN frames
* When a deadline occurs the driver will remove the CAN frame
*/
// if (setsockopt(_fd, SOL_CAN_RAW, CAN_RAW_TX_DEADLINE, &on, sizeof(on)) < 0) {
// PX4_ERR("CAN_RAW_TX_DEADLINE is disabled");
// return -1;
// }
if (setsockopt(_fd, SOL_CAN_RAW, CAN_RAW_TX_DEADLINE, &on, sizeof(on)) < 0) {
PX4_ERR("CAN_RAW_TX_DEADLINE is disabled");
return -1;
}
// if (can_fd) {
// if (setsockopt(_fd, SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &on, sizeof(on)) < 0) {
// PX4_ERR("no CAN FD support");
// return -1;
// }
// }
if (can_fd) {
if (setsockopt(_fd, SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &on, sizeof(on)) < 0) {
PX4_ERR("no CAN FD support");
return -1;
}
}
if (bind(_fd, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
PX4_ERR("bind");