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ROBOTIS-GIT / OpenCR

Software for ROS Embedded board (a.k.a. OpenCR). OpenCR means Open-source Control Module for ROS.
Apache License 2.0
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CAN communication OpenCR #296

Open kaif-46 opened 2 years ago

kaif-46 commented 2 years ago

@ROBOTIS-David @ROBOTIS-Will @ROBOTIS-Kayman How can I adjust the frequency of CAN communication in OpenCR1.0 using the Arduino library?

ROBOTIS-Will commented 2 years ago

@kaif-46 Please refer to the example in OpenCR. https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/OpenCR/examples/10.%20Etc/CAN/canTxRxByte/canTxRxByte.ino#L64

Supported Baudrates are

 * BAUDRATE :
 *   CAN_BAUD_125K
 *   CAN_BAUD_250K
 *   CAN_BAUD_500K
 *   CAN_BAUD_1000K
kaif-46 commented 2 years ago

@ROBOTIS-Will I have taken a look at it but along with the baud rater I even need to set the frequency of communication as my motor supports 8MHZ communication only. I have done the same thing using Arduino by using an external CAN Module(MCP2515) and the mcp2515.h or mcp2515_can.h libraries.

ROBOTIS-Will commented 2 years ago

@kaif-46 STM32F7 and MCP2515 both support up to 1Mbps CAN bus. Thanks.

kaif-46 commented 2 years ago

@ROBOTIS-Will Thank you for the information but I need to know how can I bring down the frequency to 8MHz by using the CAN.h library used in the examples. In the libraries I mentioned above there is a feature to set the frequency so I need to do the same thing with OpenCR