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[ergoCubSN00x] Change CAN communication time #612

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Merged
merged 2 commits into from
Jan 19, 2024
Merged

[ergoCubSN00x] Change CAN communication time #612

merged 2 commits into from
Jan 19, 2024

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@AntonioConsilvio
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What Changes:

This PR change the CAN communication time between CAN boards and EMS boards EB6 and EB8.

This change was necessary as the yarprobotinterface log is being clogged by this warning message:

[WARNING] from BOARD 10.0.1.8 (left_leg-eb8-j0_3), src LOCAL, adr 0, time 60s 885m 977u: (code 0x00000c, par16 0x0181 par64 0x003d018000ce0040) -> SYS: the DO phase of the control loop has lasted more than wanted. In par16: DO execution time [usec]. In par64: latest previous execution times of RX, DO, TX, RX [usec] + .

Note

The robot has been tested and it is working properly, and the warning messages have significantly decreased.

@AntonioConsilvio AntonioConsilvio self-assigned this Jan 19, 2024
pattacini
pattacini reviewed Jan 19, 2024
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Thanks @AntonioConsilvio for this!
What about updating ergoCubNS000 as well?
Is it worth it?

@AntonioConsilvio
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Thanks @AntonioConsilvio for this! What about updating ergoCubNS000 as well? Is it worth it?

Good idea! I hadn't thought of that.

@pattacini
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Thanks! Awaiting the CI before merging.

@AntonioConsilvio AntonioConsilvio changed the title [ergoCubSN001] Change CAN communication time [ergoCubSN00x] Change CAN communication time Jan 19, 2024
@pattacini pattacini merged commit 47994d3 into robotology:devel Jan 19, 2024
@traversaro
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Just to understand, there is any reason for which those numbers could not be the same on other boards (for example left_leg-eb9-j4_5-eln)? A different number of CAN boards connected to them?

@AntonioConsilvio
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Hi @traversaro, yes, there are different quantities of CAN boards connected on the other EMS.

Specifically, the EB6 and EB8 boards have a considerable load on the CAN line (more than the others), given by the presence of 2 2FOC boards and one strain2 board.

@traversaro
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Thanks, that is clear!

MSECode pushed a commit to valegagge/robots-configuration that referenced this pull request Apr 11, 2024
@AntonioConsilvio @valegagge
[ergoCubSN00x] Change CAN communication time (robotology#612)
b32b5f0
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@pattacini pattacini pattacini approved these changes

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@AntonioConsilvio @pattacini @traversaro