taileron
commented
2 years ago It has less to do with clock frequencies now. As soon as UAVCAN_ENABLE=SENSORS+ESC, thereby the standard PWM output is off, then the sensors are recognized and processed continuously. Now of course the PWM or dShot outputs are missing completely.
-> now it seems that PWM outs and UAVCAN doesn´t work simultaneously
(sensors autom + esc) uavcan status Pool allocator status: Capacity hard/soft: 500/250 blocks Reserved: 37 blocks Allocated: 16 blocks
UAVCAN node status: Internal failures: 0 Transfer errors: 0 RX transfers: 513 TX transfers: 5118
CAN1 status: HW errors: 352 IO errors: 360 RX frames: 1761 TX frames: 5202
ESC outputs: .. Channel 7: value: 0, failsafe: 0, disarmed: 0, min: 0, max: 0
Sensor 'flow': name: uavcan_flow channel 0: node id 125 --> instance 0
Sensor 'rangefinder': name: uavcan_rangefinder channel 0: node id 125 --> instance 0
Online nodes (Node ID, Health, Mode): 125 OK OPERAT
uavcan: cycle time: 8839 events, 203899us elapsed, 23.07us avg, min 5us max 18561us 297.480us rms uavcan: cycle interval: 8839 events, 2483.08us avg, min 13us max 32096us 1240.243us rms nsh>
Describe the bug
the current code doesn´t start uavcan properly
To Reproduce
Steps to reproduce the behavior:
in board.h: STM32_BOARD_XTAL is only 8MHz on this board maybe this is too less for STM32_FDCANCLK, all other boards use a 24 MHz crystal for it don´t know how to set CANCLK to 24Mhz
Expected behavior
UAVCAN works like expected (Hereflow is the only small enough device for Whoop sized vehicles)
Log Files and Screenshots
uavcan status Pool allocator status: Capacity hard/soft: 500/250 blocks Reserved: 2 blocks Allocated: 2 blocks
UAVCAN node status: Internal failures: 0 Transfer errors: 0 RX transfers: 0 TX transfers: 1
CAN1 status: HW errors: 31 IO errors: 31 RX frames: 0 TX frames: 1
ESC outputs: .. Channel 7: value: 0, failsafe: 0, disarmed: 0, min: 0, max: 0
Sensor 'flow': name: uavcan_flow
Sensor 'rangefinder': name: uavcan_rangefinder
Online nodes (Node ID, Health, Mode):
uavcan: cycle time: 13145 events, 156821us elapsed, 11.93us avg, min 7us max 760us 23.199us rms uavcan: cycle interval: 13145 events, 3002.73us avg, min 64us max 32936us 659.800us rms
nsh> uavcan stop nsh> uavcan start INFO [uavcan] Node ID 1, bitrate 1000000 nsh> uavcan status Pool allocator status: Capacity hard/soft: 500/250 blocks Reserved: 12 blocks Allocated: 12 blocks
UAVCAN node status: Internal failures: 0 Transfer errors: 6 RX transfers: 14 TX transfers: 4
CAN1 status: HW errors: 31 IO errors: 31 RX frames: 372 TX frames: 8
ESC outputs: .. Channel 7: value: 0, failsafe: 0, disarmed: 0, min: 0, max: 0
Sensor 'flow': name: uavcan_flow channel 0: node id 125 --> instance 0
Sensor 'rangefinder': name: uavcan_rangefinder channel 0: node id 125 --> instance 0
Online nodes (Node ID, Health, Mode): 125 OK OPERAT
uavcan: cycle time: 2322 events, 87012us elapsed, 37.47us avg, min 6us max 18543us 615.891us rms uavcan: cycle interval: 2322 events, 2581.36us avg, min 16us max 18548us 1220.597us rms
Drone (please complete the following information):
Additional context
Add any other context about the problem here.