modules: canopennode: use k_timer for deterministic SYNC timing #101359
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Replace k_sleep() with k_timer and semaphore-based synchronization in the CANopen SYNC thread for more deterministic wake-up timing. Add configurable CANOPENNODE_SYNC_THREAD_PERIOD_US Kconfig option to allow tuning the SYNC processing period. Signed-off-by: Alex Fabre <[email protected]>
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Replace
k_sleep()withk_timerand semaphore-based synchronization in the CANopen SYNC thread for more deterministic wake-up timing.Add configurable
CANOPENNODE_SYNC_THREAD_PERIOD_USKconfig option to allow tuning the thread processing period.More details
This thread is responsible for processing PDO and SYNC messages. By design it loops every 1ms (now configurable).
When the application is designed to send the SYNC message every 1ms, the
k_sleepwait of the thread is not precise enough. The following Systemview capture shows that SYNC messages are distant from a little more than 1ms.With this new implementation, SYNC messages are perfectly distant from 1ms.