Hi guys, I’m trying to send at 1Khz at least a can frame of 8 bytes. My code is written in C, the problem occurs when I try to call the write function. It appears that 1ms between each call is not enough to successfully write to socket CAN. I tried to increase the txqueuelen to 1000 from the default 10. It appears to work but the whole system is delayed anyways by the time between each write is actually sent… There are some kind of limitations? Or there are any configuration for increasing the ‘clock frequency’ I suppose?
This is how I open the socket in C:
nanotec->socket = socket(PF_CAN, SOCK_RAW, CAN_RAW);
if (nanotec->socket < 0) {
logger_error("nanotec", "Error creating socket");
return -1;
}
struct sockaddr_can address;
struct ifreq ifr;
strcpy(ifr.ifr_name, can_port);
ioctl(nanotec->socket, SIOCGIFINDEX, &ifr);
address.can_family = AF_CAN;
address.can_ifindex = ifr.ifr_ifindex;
if (bind(nanotec->socket, (struct sockaddr *) &address, sizeof(address)) < 0) {
logger_error("nanotec", "Error binding socket to %s", can_port);
return -1;
}
This is how I send the messagges:
int nanotec_set_state(t_nanotec *nanotec, motors_state desired_state) {
nanotec->tx_frame.len = 8;
nanotec->tx_frame.data[0] = 0x23; //write 4 bytes
*((uint16_t *) (nanotec->tx_frame.data + 1)) = 0x2400; //custom object for position control
nanotec->tx_frame.data[3] = 0x01; //sub index for custom object
for (int i = 0; i < 3; ++i) {
nanotec->tx_frame.can_id = 0x600 | (i + 1);
switch (i) {
case 0:
*((int32_t *) (nanotec->tx_frame.data + 4)) = desired_state.yaw;
break;
case 2:
*((int32_t *) (nanotec->tx_frame.data + 4)) = desired_state.roll;
break;
case 1:
*((int32_t *) (nanotec->tx_frame.data + 4)) = desired_state.pitch;
break;
default:
break;
}
ssize_t nbytes = write(nanotec->socket, &nanotec->tx_frame, sizeof(struct can_frame));
}
return 0;
}
Thanks
