50 lines
1.6 KiB
C
50 lines
1.6 KiB
C
#ifndef INC_CLOCK_SYNC_H_
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#define INC_CLOCK_SYNC_H_
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#include "stm32f4xx_hal.h"
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#include "stm32f4xx_hal_can.h"
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#include <stdint.h>
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#define CLOCK_TARGET_FREQ 16000000 // Hz
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#define HSI_TRIM_FREQ 48000 // Hz
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#define CLOCK_SYNC_INTERVAL 1000 // ms
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#define CLOCK_SYNC_SANITY_INTERVAL_MIN 900
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#define CLOCK_SYNC_SANITY_INTERVAL_MAX 1100
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#define MASTER_HEARTBEAT_INTERVAL 100 // ms
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#define MASTER_HEARTBEAT_SANITY_INTERVAL_MAX 110
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#define MASTER_HEARTBEAT_DESYNC_THRESH \
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(2 * MASTER_HEARTBEAT_SANITY_INTERVAL_MAX)
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#define FREQ_HOPPING_TRIM_STEPS 2
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#define FREQ_HOPPING_STAGE2_FRAMES 3
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#define FREQ_HOPPING_STAGE2_MAX_ATTEMPTS 6
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#define RCC_CR_HSITRIM_MAX 31
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#define CLOCK_SYNC_MAX_TRANSMIT_ERRORS 64
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typedef enum {
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CLOCK_SYNC_NORMAL_OPERATION,
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CLOCK_SYNC_FREQ_HOPPING_STAGE1,
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CLOCK_SYNC_FREQ_HOPPING_STAGE2
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} ClockSyncState;
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extern ClockSyncState clock_sync_state;
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void clock_sync_init(CAN_HandleTypeDef* can_handle);
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void clock_sync_update();
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ClockSyncState clock_sync_update_normal_operation();
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ClockSyncState clock_sync_update_freq_hopping_stage1();
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ClockSyncState clock_sync_update_freq_hopping_stage2();
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void clock_sync_start_normal_operation();
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void clock_sync_start_freq_hopping_stage1();
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void clock_sync_start_freq_hopping_stage2();
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void clock_sync_handle_clock_sync_frame(uint8_t counter);
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void clock_sync_handle_master_heartbeat();
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void clock_sync_startup_check();
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uint8_t get_hsi_trim();
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void set_hsi_trim(uint8_t trim);
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void trim_hsi_by(int32_t delta);
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uint8_t calculate_freq_hopping_trim(uint32_t freq_hopping_iteration);
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#endif // INC_CLOCK_SYNC_H_
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