torqeedo_interface_dune_task

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torqeedo_interface_dune_task [2019/10/11 11:06] – [How does the task work] nikolaltorqeedo_interface_dune_task [2022/09/19 11:34] (current) – external edit 127.0.0.1
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 ====== Torqeedo Interface DUNE task ====== ====== Torqeedo Interface DUNE task ======
 To enable communication between the IMC messages from DUNE, and the CAN bus used by the Torqeedo Interface Board, a new task has been created for use in the Otter. DUNE was also missing support for CAN, so this had to be added. To enable communication between the IMC messages from DUNE, and the CAN bus used by the Torqeedo Interface Board, a new task has been created for use in the Otter. DUNE was also missing support for CAN, so this had to be added.
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 +===== Task requirements =====
 +The task uses the [[socketcan_dune_implementation|SocketCAN DUNE implementation]], and so this task also needs to be run on a Linux kernel with SocketCAN enabled. This has been possible since kernel 2.6.25, and should be included by default on kernels from 2.8 and up. On the Raspian distribution, this works as soon as the CAN hardware has been configured, see [[sw_setup|Installing Raspian and enabling CAN bus]].
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 ===== How does the task work ===== ===== How does the task work =====
 The task is of the periodic type, which limits how often it runs. The frequency of the task can be set with the parameter ''%%Execution Frequency%%'', as all Periodic DUNE tasks can. The Torqeedo Interface Board typically sends 20-25 CAN messages per second, so the task has to be run with a frequency greater than this. In order to run the motors, it has to receive throttle controls at least once per second. The task is of the periodic type, which limits how often it runs. The frequency of the task can be set with the parameter ''%%Execution Frequency%%'', as all Periodic DUNE tasks can. The Torqeedo Interface Board typically sends 20-25 CAN messages per second, so the task has to be run with a frequency greater than this. In order to run the motors, it has to receive throttle controls at least once per second.
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  • Last modified: 2022/09/19 11:33
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