revert back to origin main.cpp

Author: ywen3

src/core/main.cpp

@@ -51,8 +51,8 @@ static int rt_thread_epoll_fd; /*!< epoll file descriptor for rt thread */
 static int rtControlPriority = 80; /*!< priority of application thread */
 static void *rt_control_thread(void *arg);
 static pthread_t rt_control_thread_id;
-const float controlLoopPeriodInms = 3;   /*!< Define the control loop period (in ms): the period of rt_control_thread loop. */
-const float CANUpdateLoopPeriodInms = 3; /*!< Define the CAN PDO sync message period (and so PDO update rate). In ms. Less than 3 can lead to unstable communication  */
+const float controlLoopPeriodInms = 10;   /*!< Define the control loop period (in ms): the period of rt_control_thread loop. */
+const float CANUpdateLoopPeriodInms = 10; /*!< Define the CAN PDO sync message period (and so PDO update rate). In ms. Less than 3 can lead to unstable communication  */
 CO_NMT_reset_cmd_t reset_local = CO_RESET_NOT;
 
 /** @brief Task Timer used for the Control Loop*/
@@ -191,7 +191,7 @@ int main(int argc, char *argv[]) {
     spdlog::info("Starting CANopen device with Node ID {}", nodeId);
 
     //Set synch signal period (in us)
-    CO_OD_RAM.communicationCyclePeriod = CANUpdateLoopPeriodInms * 2000;
+    CO_OD_RAM.communicationCyclePeriod = CANUpdateLoopPeriodInms * 1000;
 
     while (reset != CO_RESET_APP && reset != CO_RESET_QUIT && endProgram == 0) {
         /* CANopen communication reset || first run of app- initialize CANopen objects *******************/