From 7db8d3ad78e0082d19f872231f9e236b0584043e Mon Sep 17 00:00:00 2001
From: JacobCrabill <jacob@flyvoly.com>
Date: Tue, 15 Mar 2022 17:45:34 -0700
Subject: [PATCH] HACK: Disable SO_TIMESTAMP in uavcan_v1 temporarily while
 bringing up H7 SocketCAN driver

---
 .../cubepilot/cubeorange/socketcan.px4board   | 12 +++++++
 src/drivers/uavcan_v1/CanardSocketCAN.cpp     | 36 +++++++++----------
 2 files changed, 30 insertions(+), 18 deletions(-)

diff --git a/boards/cubepilot/cubeorange/socketcan.px4board b/boards/cubepilot/cubeorange/socketcan.px4board
index 90da927eac..9ebc42b594 100644
--- a/boards/cubepilot/cubeorange/socketcan.px4board
+++ b/boards/cubepilot/cubeorange/socketcan.px4board
@@ -4,7 +4,19 @@ CONFIG_DRIVERS_IRLOCK=n
 CONFIG_DRIVERS_PCA9685=n
 CONFIG_DRIVERS_PCA9685_PWM_OUT=n
 CONFIG_DRIVERS_RPM=n
+CONFIG_DRIVERS_UAVCAN=n
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
 CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
 CONFIG_MODULES_ROVER_POS_CONTROL=n
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
+CONFIG_DRIVERS_UAVCAN_V1=y
+CONFIG_UAVCAN_V1_BMS_SUBSCRIBER=y
+CONFIG_UAVCAN_V1_ESC_CONTROLLER=y
+CONFIG_UAVCAN_V1_ESC_SUBSCRIBER=y
+CONFIG_UAVCAN_V1_GNSS_PUBLISHER=y
+CONFIG_UAVCAN_V1_GNSS_SUBSCRIBER_0=y
+CONFIG_UAVCAN_V1_GNSS_SUBSCRIBER_1=y
+CONFIG_UAVCAN_V1_READINESS_PUBLISHER=y
+CONFIG_UAVCAN_V1_UORB_ACTUATOR_OUTPUTS_PUBLISHER=y
+CONFIG_UAVCAN_V1_UORB_SENSOR_GPS_PUBLISHER=y
+CONFIG_UAVCAN_V1_UORB_SENSOR_GPS_SUBSCRIBER=y
diff --git a/src/drivers/uavcan_v1/CanardSocketCAN.cpp b/src/drivers/uavcan_v1/CanardSocketCAN.cpp
index 81e78735c4..f5da2d42bd 100644
--- a/src/drivers/uavcan_v1/CanardSocketCAN.cpp
+++ b/src/drivers/uavcan_v1/CanardSocketCAN.cpp
@@ -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");