CANFD_SUPPORT optional

README.md

@@ -76,18 +76,13 @@ Notes:
  
 -CAN RAW:
  CAN and CANFD has been implemented and tested.
- Depending on the availability of the C-code #define "CAN_FD_FRAME"
- in /usr/include/linux/can/bcm.h, CAN-FD support is enabled at compile time.
- If you kernel does not have CANFD support comment out the #define "CAN_FD_FRAME
+ Depending on the availability of the C-code #define CANFD_SUPPORT
+ in src/SocketCAN_PT.cc CAN-FD support is enabled at compile time.
+ If you kernel does not have CANFD support comment out the #define CANFD_SUPPORT
  the file "src/SocketCAN_PT.cc"
- The RAW setsockopt has path coverage. However no test coverage that insures
- the setsockopt functionality provided by the kernel is working correctly. 
- For this purpose in the future might be added additional test cases.
 
 -CAN BCM:
  TX_SETUP, TX_DELETE have been tested, TX_READ is known to fail test cases.
- Some tests have indicated, that that SocketCAN BCM does not support concurrently
- active BCM channels.
  The BCM has test coverage for TX_SETUP and TX_DELETE. 
  Return values other than the error code by the BCM are not yet supported.
 

src/SocketCAN_PT.cc

@@ -69,23 +69,27 @@ struct canfd_frame;
 #define CAN_MTU		(sizeof(struct can_frame))
 #endif  //CAN_MTU
 
+// comment out the following define, if your kernel does not have CANFD support
+#define CANFD_SUPPORT
+#ifdef  CANFD_SUPPORT
+
+// make sure CANFD_MTU is defined, as not defined in some older kernel versions.
 #ifndef	CANFD_MTU
 #define CANFD_MTU	(sizeof(struct canfd_frame))
 #endif  //CANFD_MTU
 
-// workaround, as canfd not defined in some older kernel versions
+// make sure CAN_FD_FRAME is defined, as not defined in some older kernel versions
 // and thus canfd frames can not be used for data transfer between 
-// kernel module and userspace.
-#ifdef	CANFD_MTU
-#define CANFD_FRAME_STRUCT_DEFINED             true
-#define RAW_CANFD_SUPPORT                      true
-#endif  //CANFD_MTU
+// kernel module and userspace
+#ifndef CAN_FD_FRAME
+#define CAN_FD_FRAME   0x0800
+#endif  //CAN_FD_FRAME
 
-// has to be defined in later kernel versions in bcm.h as #define CAN_FD_FRAME   0x0800
-#ifdef  CAN_FD_FRAME
-#define BCM_CANFD_SUPPORT                      true
-#endif
+#define CANFD_FRAME_STRUCT_DEFINED
+#define RAW_CANFD_SUPPORT
+#define BCM_CANFD_SUPPORT
 
+#endif  //CANFD_SUPPORT
 namespace SocketCAN__PortType {
 
 SocketCAN__PT_PROVIDER::SocketCAN__PT_PROVIDER(const char *par_port_name) :