Use HSI with CAN-based time synchronization
This commit is contained in:
jazzpi
parent
dc40179461
commit
171d3e40cd
@ -17,6 +17,7 @@
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#include <stdint.h>
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#define CAN_ID_SLAVE_ERROR 0x001
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#define CAN_ID_TIME_SYNC 0x002
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#define CAN_ID_AMS_SLAVE_HEARTBEAT_BASE 0x600
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#define CAN_HEARTBEAT_TX_TIMEOUT 10 /* ms */
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13
Core/Inc/TimeSync.h
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13
Core/Inc/TimeSync.h
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@ -0,0 +1,13 @@
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#ifndef INC_TIME_SYNC_H_
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#define INC_TIME_SYNC_H_
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#define TARGET_FREQ 16000000 // Hz
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#define TRIM_FREQ 48000 // Hz
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#define TIME_SYNC_INTERVAL 1000 // ms
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#define RCC_CR_HSITRIM_MAX 31
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#define STARTUP_TIME_SYNC_TIME 5000 // ms
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void time_sync_handle_frame();
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#endif // INC_TIME_SYNC_H_
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@ -9,6 +9,7 @@
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#include "BQ_Abstraction_Layer.h"
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#include "TMP144.h"
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#include "TimeSync.h"
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#include "common_defs.h"
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#include "main.h"
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@ -32,6 +33,30 @@ void ams_can_init(CAN_HandleTypeDef* ams_handle,
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}
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}
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// Config filter
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CAN_FilterTypeDef can_filter;
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can_filter.FilterActivation = CAN_FILTER_ENABLE;
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can_filter.FilterBank = 0;
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can_filter.FilterFIFOAssignment = CAN_FILTER_FIFO0;
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/* Message ID is in the MSBs of the FilterId register */
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can_filter.FilterIdHigh = CAN_ID_TIME_SYNC << (16 - 11);
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can_filter.FilterIdLow = 0;
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/* Filter the 11 MSBs (i.e. a StdId) */
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can_filter.FilterMaskIdHigh = 0xFFE0;
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can_filter.FilterMaskIdLow = 0;
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can_filter.FilterMode = CAN_FILTERMODE_IDMASK;
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can_filter.FilterScale = CAN_FILTERSCALE_32BIT;
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// If we use CAN1, the slave filter should start after our filter bank. If we
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// use CAN2, it should start at our filter bank.
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if (handle_ams == ams_handle) {
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can_filter.SlaveStartFilterBank = 1;
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} else {
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can_filter.SlaveStartFilterBank = 0;
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}
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if (HAL_CAN_ConfigFilter(handle_ams, &can_filter) != HAL_OK) {
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Error_Handler();
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}
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// Activate RX notifications
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if (HAL_CAN_ActivateNotification(handle_ams, CAN_IT_RX_FIFO0_MSG_PENDING) !=
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HAL_OK) {
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@ -57,7 +82,17 @@ void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef* handle) {
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}
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}
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void ams_can_handle_ams_msg(CAN_RxHeaderTypeDef* header, uint8_t* data) {}
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void ams_can_handle_ams_msg(CAN_RxHeaderTypeDef* header, uint8_t* data) {
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if (header->IDE != CAN_ID_STD) {
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return;
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}
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switch (header->StdId) {
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case CAN_ID_TIME_SYNC:
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time_sync_handle_frame();
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break;
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}
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}
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void ams_can_send_heartbeat() {
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static CAN_TxHeaderTypeDef header;
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53
Core/Src/TimeSync.c
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53
Core/Src/TimeSync.c
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@ -0,0 +1,53 @@
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#include "TimeSync.h"
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#include "stm32f412rx.h"
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#include "stm32f4xx_hal.h"
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#include <stdint.h>
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void time_sync_handle_frame() {
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static uint32_t last_time_sync_frame = 0;
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static uint32_t f_pre_trim = TARGET_FREQ;
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static uint8_t trimmed_last_frame = 0;
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static int32_t last_trim_delta = TRIM_FREQ;
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uint32_t now = HAL_GetTick();
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if (last_time_sync_frame != 0) {
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uint32_t n_measured = now - last_time_sync_frame;
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uint32_t f_real = n_measured * (TARGET_FREQ / TIME_SYNC_INTERVAL);
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if (trimmed_last_frame) {
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last_trim_delta = (f_pre_trim - f_real) / trimmed_last_frame;
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if (last_trim_delta < 0) {
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last_trim_delta = -last_trim_delta;
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}
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trimmed_last_frame = 0;
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}
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int32_t delta_f = TARGET_FREQ - f_real;
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int32_t delta_quants = delta_f / last_trim_delta;
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if (delta_quants != 0) {
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uint32_t trim_delta = (now < STARTUP_TIME_SYNC_TIME) ? 2 : 1;
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uint32_t rcc_cr = RCC->CR;
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// Determine current trim
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int32_t trim = (rcc_cr & RCC_CR_HSITRIM_Msk) >> RCC_CR_HSITRIM_Pos;
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if (delta_quants > 0) {
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trim += trim_delta;
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if (trim > RCC_CR_HSITRIM_MAX) {
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trim = RCC_CR_HSITRIM_MAX;
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}
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} else if (delta_quants < 0) {
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trim -= trim_delta;
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if (trim < 0) {
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trim = 0;
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}
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}
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// Clear current trim and overwrite with new trim
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rcc_cr = (rcc_cr & ~RCC_CR_HSITRIM_Msk) |
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((trim << RCC_CR_HSITRIM_Pos) & RCC_CR_HSITRIM_Msk);
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RCC->CR = rcc_cr;
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f_pre_trim = f_real;
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trimmed_last_frame = trim_delta;
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}
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}
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last_time_sync_frame = now;
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}
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@ -26,6 +26,7 @@
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#include "EEPROM.h"
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#include "FanControl.h"
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#include "TMP144.h"
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#include "TimeSync.h"
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#include "common_defs.h"
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#include "stm32f4xx_hal.h"
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@ -214,7 +215,10 @@ int main(void) {
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check_error_conditions();
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}
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fan_ctrl_update();
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ams_can_send_heartbeat();
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// Only start sending CAN frames once the clock is somewhat synchronized
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if (HAL_GetTick() > STARTUP_TIME_SYNC_TIME) {
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ams_can_send_heartbeat();
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}
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delay_period();
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}
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/* USER CODE END 3 */
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@ -236,8 +240,9 @@ void SystemClock_Config(void) {
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/** Initializes the RCC Oscillators according to the specified parameters
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* in the RCC_OscInitTypeDef structure.
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*/
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RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
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RCC_OscInitStruct.HSEState = RCC_HSE_ON;
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RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
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RCC_OscInitStruct.HSIState = RCC_HSI_ON;
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RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
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RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE;
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if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
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Error_Handler();
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@ -247,7 +252,7 @@ void SystemClock_Config(void) {
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*/
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RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK |
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RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
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RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSE;
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RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSI;
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RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
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RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
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RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
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@ -255,10 +260,6 @@ void SystemClock_Config(void) {
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if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0) != HAL_OK) {
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Error_Handler();
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}
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/** Enables the Clock Security System
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*/
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HAL_RCC_EnableCSS();
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}
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/**
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@ -551,7 +552,6 @@ static void MX_GPIO_Init(void) {
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GPIO_InitTypeDef GPIO_InitStruct = {0};
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/* GPIO Ports Clock Enable */
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__HAL_RCC_GPIOH_CLK_ENABLE();
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__HAL_RCC_GPIOC_CLK_ENABLE();
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__HAL_RCC_GPIOA_CLK_ENABLE();
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__HAL_RCC_GPIOB_CLK_ENABLE();
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@ -77,7 +77,6 @@ void NMI_Handler(void)
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/* USER CODE BEGIN NonMaskableInt_IRQn 0 */
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/* USER CODE END NonMaskableInt_IRQn 0 */
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HAL_RCC_NMI_IRQHandler();
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/* USER CODE BEGIN NonMaskableInt_IRQn 1 */
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while (1) {
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}
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2
Makefile
2
Makefile
@ -1,5 +1,5 @@
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##########################################################################################################################
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# File automatically-generated by tool: [projectgenerator] version: [3.17.1] date: [Sat Jul 30 20:03:51 CEST 2022]
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# File automatically-generated by tool: [projectgenerator] version: [3.17.1] date: [Sat Jul 30 20:29:35 CEST 2022]
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##########################################################################################################################
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# ------------------------------------------------
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@ -44,6 +44,7 @@ Core/Src/EEPROM.c \
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Core/Src/FanControl.c \
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Core/Src/SoftI2C.c \
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Core/Src/TMP144.c \
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Core/Src/TimeSync.c \
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Core/Src/main.c \
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Core/Src/stm32f4xx_hal_msp.c \
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Core/Src/stm32f4xx_it.c \
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@ -58,35 +58,33 @@ Mcu.IP9=USART2
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Mcu.IPNb=12
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Mcu.Name=STM32F412R(E-G)Tx
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Mcu.Package=LQFP64
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Mcu.Pin0=PH0 - OSC_IN
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Mcu.Pin1=PH1 - OSC_OUT
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Mcu.Pin10=PB2
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Mcu.Pin11=PB10
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Mcu.Pin12=PB13
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Mcu.Pin13=PC6
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Mcu.Pin14=PC7
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Mcu.Pin15=PC9
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Mcu.Pin16=PA10
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Mcu.Pin17=PA11
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Mcu.Pin18=PA12
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Mcu.Pin19=PA13
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Mcu.Pin2=PC0
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Mcu.Pin20=PA14
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Mcu.Pin21=PA15
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Mcu.Pin22=PB3
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Mcu.Pin23=PB4
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Mcu.Pin24=PB5
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Mcu.Pin25=PB6
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Mcu.Pin26=PB7
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Mcu.Pin27=VP_SYS_VS_Systick
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Mcu.Pin3=PC1
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Mcu.Pin4=PC2
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Mcu.Pin5=PC3
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Mcu.Pin6=PA2
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Mcu.Pin7=PA3
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Mcu.Pin8=PC5
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Mcu.Pin9=PB0
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Mcu.PinsNb=28
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Mcu.Pin0=PC0
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Mcu.Pin1=PC1
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Mcu.Pin10=PB13
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Mcu.Pin11=PC6
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Mcu.Pin12=PC7
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Mcu.Pin13=PC9
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Mcu.Pin14=PA10
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Mcu.Pin15=PA11
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Mcu.Pin16=PA12
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Mcu.Pin17=PA13
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Mcu.Pin18=PA14
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Mcu.Pin19=PA15
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Mcu.Pin2=PC2
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Mcu.Pin20=PB3
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Mcu.Pin21=PB4
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Mcu.Pin22=PB5
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Mcu.Pin23=PB6
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Mcu.Pin24=PB7
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Mcu.Pin25=VP_SYS_VS_Systick
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Mcu.Pin3=PC3
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Mcu.Pin4=PA2
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Mcu.Pin5=PA3
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Mcu.Pin6=PC5
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Mcu.Pin7=PB0
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Mcu.Pin8=PB2
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Mcu.Pin9=PB10
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Mcu.PinsNb=26
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Mcu.ThirdPartyNb=0
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Mcu.UserConstants=
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Mcu.UserName=STM32F412RETx
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@ -105,7 +103,7 @@ NVIC.ForceEnableDMAVector=true
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NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
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NVIC.I2C1_EV_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
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NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
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NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:false
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NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
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NVIC.PendSV_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
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NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
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NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
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@ -184,10 +182,6 @@ PC9.GPIOParameters=GPIO_Label
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PC9.GPIO_Label=FAN_PWM
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PC9.Locked=true
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PC9.Signal=S_TIM3_CH4
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PH0\ -\ OSC_IN.Mode=HSE-External-Oscillator
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PH0\ -\ OSC_IN.Signal=RCC_OSC_IN
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PH1\ -\ OSC_OUT.Mode=HSE-External-Oscillator
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PH1\ -\ OSC_OUT.Signal=RCC_OSC_OUT
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PinOutPanel.RotationAngle=0
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ProjectManager.AskForMigrate=true
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ProjectManager.BackupPrevious=false
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@ -219,10 +213,9 @@ ProjectManager.UnderRoot=false
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ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_CAN1_Init-CAN1-false-HAL-true,5-MX_CAN2_Init-CAN2-false-HAL-true,6-MX_I2C1_Init-I2C1-false-HAL-true,7-MX_TIM3_Init-TIM3-false-HAL-true,8-MX_USART1_UART_Init-USART1-false-HAL-true,9-MX_USART2_UART_Init-USART2-false-HAL-true,10-MX_USART3_UART_Init-USART3-false-HAL-true,11-MX_USART6_UART_Init-USART6-false-HAL-true
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RCC.CortexFreq_Value=16000000
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RCC.DFSDMFreq_Value=16000000
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RCC.EnbaleCSS=true
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RCC.FamilyName=M
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RCC.HSE_VALUE=16000000
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RCC.IPParameters=CortexFreq_Value,DFSDMFreq_Value,EnbaleCSS,FamilyName,HSE_VALUE,PLLCLKFreq_Value,PLLI2SPCLKFreq_Value,PLLI2SQCLKFreq_Value,PLLI2SRCLKFreq_Value,PLLM,PLLN,PLLQCLKFreq_Value,PLLQoutputFreq_Value,PLLRCLKFreq_Value,PLLRoutputFreq_Value,PLLSourceVirtual,RNGFreq_Value,SDIOFreq_Value,SYSCLKSource,USBFreq_Value,VCOI2SInputFreq_Value,VCOI2SOutputFreq_Value,VCOInputFreq_Value,VCOOutputFreq_Value
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RCC.IPParameters=CortexFreq_Value,DFSDMFreq_Value,FamilyName,HSE_VALUE,PLLCLKFreq_Value,PLLI2SPCLKFreq_Value,PLLI2SQCLKFreq_Value,PLLI2SRCLKFreq_Value,PLLM,PLLN,PLLQCLKFreq_Value,PLLQoutputFreq_Value,PLLRCLKFreq_Value,PLLRoutputFreq_Value,RNGFreq_Value,SDIOFreq_Value,USBFreq_Value,VCOI2SInputFreq_Value,VCOI2SOutputFreq_Value,VCOInputFreq_Value,VCOOutputFreq_Value
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RCC.PLLCLKFreq_Value=50000000
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RCC.PLLI2SPCLKFreq_Value=96000000
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RCC.PLLI2SQCLKFreq_Value=96000000
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@ -233,10 +226,8 @@ RCC.PLLQCLKFreq_Value=50000000
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RCC.PLLQoutputFreq_Value=50000000
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RCC.PLLRCLKFreq_Value=50000000
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RCC.PLLRoutputFreq_Value=50000000
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RCC.PLLSourceVirtual=RCC_PLLSOURCE_HSE
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RCC.RNGFreq_Value=50000000
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RCC.SDIOFreq_Value=50000000
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RCC.SYSCLKSource=RCC_SYSCLKSOURCE_HSE
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RCC.USBFreq_Value=50000000
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RCC.VCOI2SInputFreq_Value=1000000
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RCC.VCOI2SOutputFreq_Value=192000000
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