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OpenMotorDrive / framework

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Comply with UAVCAN standard WRT bus errors and anonymous messages #24

Closed jschall closed 6 years ago

jschall commented 6 years ago

Per http://uavcan.org/Specification/4._CAN_bus_transport_layer/:

Since the discriminator is only 14 bits long, the probability of having multiple nodes that are emitting CAN frames with the same CAN ID but different data is higher than 0.006% (which is significant). Therefore, the protocol must account for possible errors on the CAN bus triggered by CAN ID collisions. In order to comply with this requirement, UAVCAN requires all nodes to immediately abort transmission of all anonymous transfers once an error on the CAN bus is detected. This measure allows to prevent the bus deadlock that may occur if the automatic retransmission on bus error is not suppressed.

jschall commented 6 years ago

I think this may be as simple as enabling non automatic re-transmission mode during dynamic node ID allocation. Can @pavel-kirienko confirm?

pavel-kirienko commented 6 years ago

Yes I can confirm.

jschall commented 6 years ago

will be fixed with #49