Am 03.01.22 um 18:40 schrieb Oliver Hartkopp: >> In this example CF#2 is delayed by .5 ms on the wire while CF#3 is >> sent .5 ms too early >> when I look at the delta between CF#2 and CF#3 . >> >> To me it seems that, while the messages are put into some tx-queue at the >> correct time, they are not actually put on the wire at that exact time >> leading to CF#3 >> being put on the wire too early. > > Yes. The CAN frames are sent with a 'minimum' gap which is defined with > STmin, see isotp_tx_timer_handler(). > > Generally the handling and the sending of the frame is processed - and > *then* the offset gap of the current time is added. In your case it > should always be *slightly more* than 2ms, which is fine from the STmin > specification intention. Hi, actually spec says *average* gap time should not fall below STMIN. That .5 is actually not bad at all. I have seen some autosar manufacturers stretching the spec up to the point where you request stmin=5 and get st=10 by design. Regards, Patrick
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