Allow using event timer for tpdo timing

grantweiss-RaymondCorp · Jul 29, 2024 · 2305314 · 2305314
1 parent 822009c
commit 2305314
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Showing 2 changed files with 17 additions and 8 deletions.
diff --git a/canopen/node/local.py b/canopen/node/local.py
@@ -154,15 +154,21 @@ def _tpdo_configuration_write(self, index, subindex, od, data):
                 logger.warning("Tried to configure tpdo when not in pre-op")
                 return
 
+            tpdoNum = (index - 0x1800) + 1
+            if tpdoNum not in self.tpdo.map.keys():
+                return
+
             if subindex == 0x01:
                 if len(data) == 4:
-                    tpdoNum = (index - 0x1800) + 1
-                    if tpdoNum in self.tpdo.map.keys():
-                        PDO_NOT_VALID = 1 << 31
-                        RTR_NOT_ALLOWED = 1 << 30
+                    PDO_NOT_VALID = 1 << 31
+                    RTR_NOT_ALLOWED = 1 << 30
+
+                    cob_id = int.from_bytes(data, 'little') & 0x7FF
 
-                        cob_id = int.from_bytes(data, 'little') & 0x7FF
+                    self.tpdo.map[tpdoNum].cob_id = cob_id & 0x1FFFFFFF
+                    self.tpdo.map[tpdoNum].enabled = cob_id & PDO_NOT_VALID == 0
+                    self.tpdo.map[tpdoNum].rtr_allowed = cob_id & RTR_NOT_ALLOWED == 0
 
-                        self.tpdo.map[tpdoNum].cob_id = cob_id & 0x1FFFFFFF
-                        self.tpdo.map[tpdoNum].enabled = cob_id & PDO_NOT_VALID == 0
-                        self.tpdo.map[tpdoNum].rtr_allowed = cob_id & RTR_NOT_ALLOWED == 0
+            elif subindex == 0x05:
+                if len(data) == 2:
+                    self.tpdo.map[tpdoNum].event_timer = int.from_bytes(data, 'little')
diff --git a/canopen/pdo/base.py b/canopen/pdo/base.py
@@ -525,8 +525,11 @@ def start(self, period: Optional[float] = None) -> None:
         # overwrite the reference and can lose our handle to shut it down
         self.stop()
 
+        # Prefer period, then self.period, then use self.event_timer
         if period is not None:
             self.period = period
+        elif self.period is None and self.event_timer and self.trans_type >= 254:
+            self.period = self.event_timer / 1000
 
         if not self.period:
             raise ValueError("A valid transmission period has not been given")