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STM32 clock sync defaults

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This commit is contained in:
Pavel Kirienko 2014-04-26 19:40:36 +04:00
parent 803222dcc3
commit 4a761b44bb
2 changed files with 7 additions and 3 deletions
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6
libuavcan_drivers/stm32/driver/include/uavcan_stm32/clock.hpp
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@ -43,10 +43,10 @@ struct UtcSyncParams
{
float p = 0.01; ///< Correction PPM per 1 usec error
float i_fwd = 0.0001;
float i_rev = i_fwd * 10.0;
float rate_error_corner_freq = 0.05;
float i_rev = i_fwd * 5.0;
float rate_error_corner_freq = 0.01;
float max_rate_correction_ppm = 300;
float lock_thres_rate_ppm = 10.0;
float lock_thres_rate_ppm = 2.0;
uavcan::UtcDuration lock_thres_offset = uavcan::UtcDuration::fromMSec(4);
uavcan::UtcDuration min_jump = uavcan::UtcDuration::fromMSec(10); ///< Min error to jump rather than change rate
};

4
libuavcan_drivers/stm32/driver/src/uc_stm32_clock.cpp
View File

@ -2,6 +2,7 @@
* Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
*/
#include <crdr_chibios/sys/sys.h>
#include <cassert>
#include <cmath>
#include <uavcan_stm32/clock.hpp>
@ -188,6 +189,9 @@ static void updateRatePID(uavcan::UtcDuration adjustment)
rate_correction_ppm = std::min(rate_correction_ppm, utc_sync_params.max_rate_correction_ppm);
utc_correction_nsec_per_overflow = (USecPerOverflow * 1000) * (rate_correction_ppm / 1e6F);
lowsyslog("$ adj=%f rate_err=%f int=%f ppm=%f\n",
adj_usec, utc_inv_rate_error_ppm, utc_integrated_error, rate_correction_ppm);
}
void adjustUtc(uavcan::UtcDuration adjustment)