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STM32: Dramatically improved clock synchronization

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Pavel Kirienko
2014-04-27 20:57:56 +04:00
parent 6815e5c755
commit 0e93ea6940
2 changed files with 33 additions and 27 deletions
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libuavcan_drivers/stm32/driver/include/uavcan_stm32/clock.hpp
+2 -3
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@@ -41,9 +41,8 @@ void adjustUtc(uavcan::UtcDuration adjustment);
*/
struct UtcSyncParams
{
float p = 0.01; ///< Correction PPM per 1 usec error
float i_fwd = 0.0001;
float i_rev = i_fwd * 5.0;
float offset_p = 0.01; ///< PPM per one usec error
float rate_i = 0.02; ///< PPM per one PPM error for second
float rate_error_corner_freq = 0.01;
float max_rate_correction_ppm = 300;
float lock_thres_rate_ppm = 2.0;