[ergoCubSN00x] Change CAN communication time

[AntonioConsilvio]

What Changes:

This PR change the CAN communication time between CAN boards and EMS boards EB6 and EB8.

This change was necessary as the yarprobotinterface log is being clogged by this warning message:

[WARNING] from BOARD 10.0.1.8 (left_leg-eb8-j0_3), src LOCAL, adr 0, time 60s 885m 977u: (code 0x00000c, par16 0x0181 par64 0x003d018000ce0040) -> SYS: the DO phase of the control loop has lasted more than wanted. In par16: DO execution time [usec]. In par64: latest previous execution times of RX, DO, TX, RX [usec] + .

Note

The robot has been tested and it is working properly, and the warning messages have significantly decreased.

[pattacini]

Thanks @AntonioConsilvio for this!
What about updating ergoCubNS000 as well?
Is it worth it?

[AntonioConsilvio]

Thanks @AntonioConsilvio for this! What about updating ergoCubNS000 as well? Is it worth it?

Good idea! I hadn't thought of that.

[pattacini]

Thanks! Awaiting the CI before merging.

[traversaro]

Just to understand, there is any reason for which those numbers could not be the same on other boards (for example left_leg-eb9-j4_5-eln)? A different number of CAN boards connected to them?

[AntonioConsilvio]

Hi @traversaro, yes, there are different quantities of CAN boards connected on the other EMS.

Specifically, the EB6 and EB8 boards have a considerable load on the CAN line (more than the others), given by the presence of 2 2FOC boards and one strain2 board.

[traversaro]

Thanks, that is clear!