From 11eff855943e7052cd27f725d8265cca882ce98b Mon Sep 17 00:00:00 2001 From: Federico Mandelli <federicomandelli@skywarder.eu> Date: Mon, 31 Jul 2023 12:31:16 +0200 Subject: [PATCH] [CanProtocol] Get a new tick after sending the first one --- src/shared/drivers/canbus/CanProtocol/CanProtocol.cpp | 4 ++-- .../drivers/canbus/CanProtocol/test-can-protocol-2way.cpp | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/src/shared/drivers/canbus/CanProtocol/CanProtocol.cpp b/src/shared/drivers/canbus/CanProtocol/CanProtocol.cpp index 2884c27a4..8c87c9714 100644 --- a/src/shared/drivers/canbus/CanProtocol/CanProtocol.cpp +++ b/src/shared/drivers/canbus/CanProtocol/CanProtocol.cpp @@ -136,8 +136,6 @@ void CanProtocol::sendMessage(const CanMessage& msg) static_cast<uint32_t>(CanProtocolIdMask::LEFT_TO_SEND)); packet.length = byteForUint64(msg.payload[0]); - packet.timestamp = Boardcore::TimestampTimer::getTimestamp(); - // Splits payload[0] in the right number of uint8_t for (int i = 0; i < packet.length; i++) packet.data[i] = msg.payload[0] >> (8 * i); @@ -145,6 +143,7 @@ void CanProtocol::sendMessage(const CanMessage& msg) // Send the first packet can->send(packet); // Updates the loadEstimator + packet.timestamp = miosix::getTick(); loadEstimator->addPacket(packet); leftToSend--; @@ -164,6 +163,7 @@ void CanProtocol::sendMessage(const CanMessage& msg) can->send(packet); // Updates the loadEstimator + packet.timestamp = miosix::getTick(); loadEstimator->addPacket(packet); leftToSend--; } diff --git a/src/tests/drivers/canbus/CanProtocol/test-can-protocol-2way.cpp b/src/tests/drivers/canbus/CanProtocol/test-can-protocol-2way.cpp index 37d4b9e86..ce45b5492 100644 --- a/src/tests/drivers/canbus/CanProtocol/test-can-protocol-2way.cpp +++ b/src/tests/drivers/canbus/CanProtocol/test-can-protocol-2way.cpp @@ -38,7 +38,7 @@ #include <functional> #include <string> -constexpr uint32_t BAUD_RATE = 500 * 1000; +constexpr uint32_t BAUD_RATE = 250 * 1000; constexpr float SAMPLE_POINT = 87.5f / 100.0f; constexpr uint32_t MSG_DEADLINE = 100; // ms constexpr uint32_t MSG_LOST_DEADLINE = 400; // ms @@ -212,7 +212,7 @@ int main() protocol->start(); mc.start(); - const int slp = 10; + const int slp = 5; for (;;) { sendNewRequest(); -- GitLab