Force canmonitor check time to be 250ms and keep if clause commented …

…since not working properly
robotology · Jan 8, 2024 · 32ed955 · 32ed955
1 parent 141e34c
commit 32ed955
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Showing 3 changed files with 11 additions and 9 deletions.
diff --git a/emBODY/eBcode/arch-arm/board/bat/BAT_Rev_B/Src/BAT_B.c b/emBODY/eBcode/arch-arm/board/bat/BAT_Rev_B/Src/BAT_B.c
@@ -10,8 +10,8 @@
 #include "BAT_B.h"
 
 char Firmware_vers = 1;
-char Revision_vers = 3;
-char Build_number  = 3;
+char Revision_vers = 9;
+char Build_number  = 9;
 
 uint32_t vtol=100;  // voltage tolerance for hysteresis
 uint32_t vhyst=0;    // voltage hysteresis

diff --git a/emBODY/eBcode/arch-arm/board/ems004/appl/v2/cfg/eoemsappl/EOMtheEMSapplCfg_cfg.h b/emBODY/eBcode/arch-arm/board/ems004/appl/v2/cfg/eoemsappl/EOMtheEMSapplCfg_cfg.h
@@ -81,7 +81,7 @@ extern "C" {
 #define EOMTHEEMSAPPLCFG_VERSION_MAJOR          (VERSION_MAJOR_OFFSET+3)
 //  <o> minor           <0-255> 
 //  <o> minor           <0-255>
-#define EOMTHEEMSAPPLCFG_VERSION_MINOR          97
+#define EOMTHEEMSAPPLCFG_VERSION_MINOR          99
 
 //  </h>version
 

diff --git a/...DY/eBcode/arch-arm/board/ems004/appl/v2/src/eoappservices/embot_app_eth_theBATservice.cpp b/...DY/eBcode/arch-arm/board/ems004/appl/v2/src/eoappservices/embot_app_eth_theBATservice.cpp
@@ -90,7 +90,7 @@ struct embot::app::eth::theBATservice::Impl {
   CANmonitor canmonitor{};
   static constexpr CANmonitor::Config defaultcanmonitorconfig{
       {}, // the map is left empty
-      200 * embot::core::time1millisec,
+      250 * embot::core::time1millisec,
       CANmonitor::Report::ALL,
       10 * embot::core::time1second,
       s_eobj_ownname,
@@ -476,11 +476,13 @@ eOresult_t embot::app::eth::theBATservice::Impl::Start() {
   cfg.target.clear();
   // check if we are not using custom value > 100 for service.servconfig.data.as.battery.canmonitorconfig.periodofcheck 
   // if not we are setting it to 250 in order to not having error when canmonitor checks for BAT frames
-  if(service.servconfig.data.as.battery.canmonitorconfig.periodofcheck == 0)
-      service.servconfig.data.as.battery.canmonitorconfig.periodofcheck = 250;
-  cfg.periodofcheck = embot::core::time1millisec * service.servconfig.data.as.battery.canmonitorconfig.periodofcheck;
-  cfg.periodofreport = embot::core::time1millisec * service.servconfig.data.as.battery.canmonitorconfig.periodofreport;
-  cfg.reportmode = static_cast<CANmonitor::Report>(service.servconfig.data.as.battery.canmonitorconfig.reportmode);
+//  if(service.servconfig.data.as.battery.canmonitorconfig.periodofcheck != 0)
+//  {
+//    cfg.periodofcheck = embot::core::time1millisec * service.servconfig.data.as.battery.canmonitorconfig.periodofcheck;
+//    cfg.periodofreport = embot::core::time1millisec * service.servconfig.data.as.battery.canmonitorconfig.periodofreport;
+//    cfg.reportmode = static_cast<CANmonitor::Report>(service.servconfig.data.as.battery.canmonitorconfig.reportmode);
+//  }
+
   canmonitor.configure(cfg);
   canmonitor.start();