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CANopenNode / CanOpenSTM32

CANopenNode on STM32 microcontrollers.
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Send/Receive simultaneously with 2 Nodes #21

Closed canOpenStm32 closed 1 year ago

canOpenStm32 commented 1 year ago

I have a question, i have at the moment 2 Nodes. Both Nodes run with canOpen and RTOS. I put the canopen_app_interrupt() method in a Task with 1ms Delay instead of the HAL_TIM_PeriodElapsedCallback(). The other Code canopen_app_process() and send function is in a other Task (like the Example in this Repository). At this time i send the canopen var manually on the Bus with the CO_TPDOsendRequest(...).

But if i want that both nodes send and receive simultaneously i have to set the timing in the Task with the canopen_app_process(), to at least 100ms otherwise the nodes didn't receives nothing more. The delay is set with osDelay().

Maybe i missed something, is there a way that this scenario work with less than 100ms, for example with 50ms?

HamedJafarzadeh commented 1 year ago

Hi, In theory it should work and only depends on your CAN-Bus bitrate. Otherwise, we need more clarification on your OS tasks, maybe with some sort of Pseudo codes.

canOpenStm32 commented 1 year ago

Thanks for the fast answer, it works now. :)