search

ros-industrial / ros_canopen

CANopen driver framework for ROS (http://wiki.ros.org/ros_canopen)
GNU Lesser General Public License v3.0
336 stars 271 forks source link

Does this package support CAN FD ? #374

Open CCodie opened 4 years ago

CCodie commented 4 years ago

Hi developers ! Always thanks for your hard work.

I'm now using this package for my vehicle CAN. And I wonder that I can use this package for CAN_FD network. (or if I need to modify some code, letting me know how to would be thankful)

I found that Linux_SocketCAN support CAN_FD here - Linux_socketcan. And it seems code below does work that I can check with ifconfig and it's RX bytes. sudo ip link set can0 up type can bitrate 500000 dbitrate 2000000 fd on

Do I need to just change code about data length (dlc)...? I'm not sure.

Please let me know... Thanks !

mathias-luedtke commented 4 years ago

socketcan_interface does not support CAN FD yet. Apart from adapting the code to use canfd_frame and perhaps the CAN_RAW_FD_FRAMES option, the frame length is hard-coded to 8 right now.

CCodie commented 4 years ago

@ipa-mdl , Thank you for letting me know ! I should find another way to use canfd.

mathias-luedtke commented 4 years ago

You could try #375