FaSTTUBe/ams-slave-22
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Frequency hopping using master heartbeats

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This commit is contained in:
jazzpi
2022-08-02 21:18:22 +02:00
parent 9fb5e145ad
commit 03080cd69a
6 changed files with 193 additions and 58 deletions
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3
Core/Inc/AMS_CAN.h
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@ -18,9 +18,12 @@
#define CAN_ID_SLAVE_ERROR 0x001
#define CAN_ID_CLOCK_SYNC 0x002
#define CAN_ID_MASTER_HEARTBEAT 0x010
#define CAN_ID_AMS_SLAVE_HEARTBEAT_BASE 0x600
#define CAN_HEARTBEAT_TX_TIMEOUT 10 /* ms */
extern CAN_HandleTypeDef* ams_can_handle;
void ams_can_init(CAN_HandleTypeDef* ams, CAN_HandleTypeDef* car);
void ams_can_handle_ams_msg(CAN_RxHeaderTypeDef* header, uint8_t* data);

31
Core/Inc/ClockSync.h
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@ -1,17 +1,42 @@
#ifndef INC_CLOCK_SYNC_H_
#define INC_CLOCK_SYNC_H_
#include "stm32f4xx_hal.h"
#include "stm32f4xx_hal_can.h"
#include <stdint.h>
#define CLOCK_TARGET_FREQ 16000000 // Hz
#define HSI_TRIM_FREQ 48000 // Hz
#define CLOCK_SYNC_INTERVAL 1000 // ms
#define CLOCK_SYNC_SANITY_INTERVAL_MIN 900
#define CLOCK_SYNC_SANITY_INTERVAL_MAX 1100
#define MASTER_HEARTBEAT_INTERVAL 100 // ms
#define MASTER_HEARTBEAT_SANITY_INTERVAL_MAX 110
#define MASTER_HEARTBEAT_DESYNC_THRESH \
(2 * MASTER_HEARTBEAT_SANITY_INTERVAL_MAX)
#define FREQ_HOPPING_TRIM_STEPS 2
#define RCC_CR_HSITRIM_MAX 31
#define CLOCK_SYNC_MAX_TRANSMIT_ERRORS 64
#define STARTUP_CLOCK_SYNC_TIME 5000 // ms
typedef enum {
CLOCK_SYNC_NORMAL_OPERATION,
CLOCK_SYNC_FREQ_HOPPING
} ClockSyncState;
void clock_sync_handle_frame();
extern ClockSyncState clock_sync_state;
void clock_sync_init(CAN_HandleTypeDef* can_handle);
void clock_sync_update();
ClockSyncState clock_sync_update_normal_operation();
ClockSyncState clock_sync_update_freq_hopping();
void clock_sync_start_normal_operation();
void clock_sync_start_freq_hopping();
void clock_sync_handle_clock_sync_frame(uint8_t counter);
void clock_sync_handle_master_heartbeat();
void clock_sync_startup_check();
void trim_hsi(int32_t delta);
uint8_t get_hsi_trim();
void set_hsi_trim(uint8_t trim);
void trim_hsi_by(int32_t delta);
#endif // INC_CLOCK_SYNC_H_