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[hal] Enable CAN FD on bus when bus is configured for FD (#8175)

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Without this, FD reads would not be supported, however FD writes would still work.
This commit is contained in:
Thad House
2025-08-16 22:51:45 -07:00
committed by GitHub
parent f89cf2e441
commit 73c26dcf89
1 changed files with 19 additions and 0 deletions
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19
hal/src/main/native/systemcore/CAN.cpp
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@@ -186,6 +186,25 @@ bool SocketCanState::InitializeBuses() {
return;
}
if (ioctl(socketHandle[i], SIOCGIFMTU, &ifr) == -1) {
wpi::print("ioctl(SIOCGIFMTU) for CAN {} failed with {}\n",
ifr.ifr_name, std::strerror(errno));
success = false;
return;
}
if (ifr.ifr_mtu == CANFD_MTU) {
int fdSet = 1;
if (setsockopt(socketHandle[i], SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &fdSet,
sizeof(fdSet)) != 0) {
wpi::print(
"setsockopt(CAN_RAW_FD_FRAMES) for CAN {} failed with {}\n",
ifr.ifr_name, std::strerror(errno));
success = false;
return;
}
}
auto poll = wpi::uv::Poll::Create(loop, socketHandle[i]);
if (!poll) {
wpi::print("wpi::uv::Poll::Create for CAN {} failed\n", ifr.ifr_name);