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Send heartbeat packets every 100 ms

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This commit is contained in:
jazzpi
2022-08-01 08:42:24 +02:00
parent bd9d86b168
commit 5ad45cf53d
7 changed files with 125 additions and 15 deletions
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1
Core/Inc/CAN_Communication.h
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@ -22,6 +22,7 @@
#define SLAVE_CMD_BASE_ADDRESS 0x500 //
#define SLAVE_EMERGENCY_ADDRESS 0x001 // Emergency Frame
#define CLOCK_SYNC_ADDRESS 0x002
#define MASTER_HEARTBEAT_ADDRESS 0x010
typedef struct {
int16_t FrameID;

27
Core/Inc/Clock_Sync.h
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@ -1,11 +1,34 @@
#ifndef INC_CLOCK_SYNC_H_
#define INC_CLOCK_SYNC_H_
/**
* @file Clock_Sync.h
* @author Jasper v. Blanckenburg (j.blanckenburg@fasttube.de)
* @brief Clock synchronization mechanism -- master side
* @version 0.1
* @date 2022-08-01
*
* @copyright Copyright (c) 2022
*
* The slaves' clocks are fairly inaccurate -- too inaccurate for reliable CAN
* communication. In order to synchronize the clock frequencies, the slaves need
* an external clock source. Since the HSE doesn't work on all slaves, we use
* the master as the external clock source. For more detail, take a look at the
* clock sync section in the slave code.
*
* This file handles the master part of the clock sync mechanism: It sends
* CLOCK_SYNC frames every 1000 ms and MASTER_HEARTBEAT frames every 100 ms. In
* order to keep the time between packets accurate, they are sent from timer
* interrupts.
*/
#include "stm32g4xx_hal.h"
#include "stm32g4xx_hal_fdcan.h"
#include "stm32g4xx_hal_tim.h"
void clock_sync_init(FDCAN_HandleTypeDef* can, TIM_HandleTypeDef* timer);
void clock_sync_init(FDCAN_HandleTypeDef* can, TIM_HandleTypeDef* sync_timer,
TIM_HandleTypeDef* heartbeat_timer);
void clock_sync_handle_timer_complete();
void clock_sync_handle_timer_complete(TIM_HandleTypeDef* timer);
#endif // INC_CLOCK_SYNC_H_