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fix(uavcan): NuttX 12.12.0 SocketCAN uses bit/s in can_ioctl_data_s

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Kernel update changed can_ioctl_data_s bitrate unit from kbit/s to bit/s
Update uavcan ioctl logic accordingly
This commit is contained in:
Peter van der Perk
2026-09-02 13:43:46 +02:00
parent 6ff803495e
commit db6f7ec304
1 changed files with 5 additions and 7 deletions
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12
src/drivers/uavcan/uavcan_drivers/socketcan/driver/src/socketcan.cpp
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@@ -390,20 +390,18 @@ int CanIface::setBitRate(uint32_t bitrate)
snprintf(ifr.ifr_name, IFNAMSIZ, "can%" PRIu32, _index);
const uint16_t kbps = bitrate / 1000;
if (ioctl(_fd, SIOCGCANBITRATE, &ifr) < 0) {
PX4_WARN("can%" PRIu32 ": cannot read bit rate (%d), leaving it as configured", _index, errno);
return 0;
}
if (ifr.ifr_ifru.ifru_can_data.arbi_bitrate == kbps) {
if (ifr.ifr_ifru.ifru_can_data.arbi_bitrate == bitrate) {
return 0;
}
#if !PX4_SOCKETCAN_SAFE_RETUNE
PX4_WARN("can%" PRIu32 ": UAVCAN_BITRATE %u kbit/s not applied, staying at %" PRIu32 " kbit/s",
_index, kbps, ifr.ifr_ifru.ifru_can_data.arbi_bitrate);
PX4_WARN("can%" PRIu32 ": UAVCAN_BITRATE %" PRIu32 " bit/s not applied, staying at %" PRIu32 " bit/s",
_index, bitrate, ifr.ifr_ifru.ifru_can_data.arbi_bitrate);
return 0;
#else
/* Only the nominal rate changes; the data phase keeps the driver's
@@ -411,7 +409,7 @@ int CanIface::setBitRate(uint32_t bitrate)
* The driver applies the timing at the next ifup, so the interface is
* taken down around the request and brought back up whatever happens.
*/
ifr.ifr_ifru.ifru_can_data.arbi_bitrate = kbps;
ifr.ifr_ifru.ifru_can_data.arbi_bitrate = bitrate;
struct ifreq flags {};
@@ -449,7 +447,7 @@ int CanIface::setBitRate(uint32_t bitrate)
}
if (res < 0) {
PX4_ERR("can%" PRIu32 ": %u kbit/s rejected (%d)", _index, kbps, set_errno);
PX4_ERR("can%" PRIu32 ": %u bit/s rejected (%d)", _index, bitrate, set_errno);
return -1;
}