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candle-usb / candleLight_fw

gs_usb compatible firmware for candleLight, cantact and canable
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Setting CAN auto retransmission #186

Closed SergeTauger closed 1 month ago

SergeTauger commented 1 month ago

Hi all, Could you please tell if auto retransmission in case no ACK received is enabled by default? If not, how can I enable it? I searched the code but still have no idea which behavior listed in gs_usb.h is applied by default in can_enable. Best, Serge

fenugrec commented 1 month ago

that is a function of the hardware periphal ("NART" ) and "one shot mode" of the gs_usb driver. See https://github.com/candle-usb/candleLight_fw/blob/master/src/can/bxcan.c#L108

SergeTauger commented 1 month ago

I've seen it, but can_enable is called once, in usbd_gs_can.c/USBD_GS_CAN_EP0_RxReady which is a callback. I cannot find where mode->flags is set and if is it set to |= one shot flag.

SergeTauger commented 1 month ago

sorry, from the beginning of the thread I generated XY problem. Let me go into more details. Currently I'm working on CanOpen device (CanOpenNode port), my usb-can adapter is Fysetc UCan which runs candlelight_fw. CanOpen software on PC side is Lely CanOpen. Using candump with options "-d -D -e -x -t d" (capture all frames, show relative time) I get such a log

(000.946861)  can0  TX - -  605   [8]  2F 11 60 02 C0 00 00 00 
(000.000070)  can0  TX - -  605   [8]  23 12 60 02 88 13 00 00
 (000.000080)  can0  TX - -  605   [8]  2B 13 60 02 F4 01 00 00
 (000.000755)  can0  TX - -  605   [8]  2B 14 60 02 F4 01 00 00
 (000.000990)  can0  TX - -  605   [8]  2B 15 60 02 64 00 00 00
 (000.000925)  can0  TX - -  605   [8]  2F 10 60 02 21 00 00 00
 (000.001026)  can0  RX - -  585   [8]  60 11 60 02 00 00 00 00
 (000.001939)  can0  RX - -  585   [8]  60 13 60 02 00 00 00 00
 (000.001946)  can0  RX - -  585   [8]  60 14 60 02 00 00 00 00
 (000.001876)  can0  RX - -  585   [8]  60 15 60 02 00 00 00 00

As you can see, I write to device 6 times and get only 4 responces. As far as I can get it UCan should have resent a TX responce since it was not ACKed properly, but it didn't. Now I'm trying to get why.

fenugrec commented 1 month ago

Are you sure you're not confusing canopen-level semantics with CAN ACK mechanism ? They are not the same, and with what you posted I see no indication that the raw CAN frames were not sent properly. Whether or not your node is responding to SDO queries or whatever you were doing, is of course completely out of scope of the gs_usb driver (and this firmware)

SergeTauger commented 1 month ago

My bad. Sorry for the mistake. Logic analyzer says everything is OK, so I have written something wrong on canopennode level.