config: convert 'pi_integral_const' to the new scheme.

Signed-off-by: Richard Cochran <richardcochran@gmail.com>

config.c

@@ -96,6 +96,7 @@ struct config_item config_tab[] = {
 	GLOB_ITEM_DBL("first_step_threshold", 0.00002, 0.0, DBL_MAX),
 	GLOB_ITEM_INT("logging_level", LOG_INFO, PRINT_LEVEL_MIN, PRINT_LEVEL_MAX),
 	GLOB_ITEM_INT("max_frequency", 900000000, 0, INT_MAX),
+	GLOB_ITEM_DBL("pi_integral_const", 0.0, 0.0, DBL_MAX),
 	GLOB_ITEM_DBL("pi_proportional_const", 0.0, 0.0, DBL_MAX),
 	GLOB_ITEM_DBL("step_threshold", 0.0, 0.0, DBL_MAX),
 	GLOB_ITEM_INT("tx_timestamp_timeout", 1, 1, INT_MAX),
@@ -542,12 +543,6 @@ static enum parser_result parse_global_setting(const char *option,
 		cfg->dds.freq_est_interval = val;
 		pod->freq_est_interval = val;
 
-	} else if (!strcmp(option, "pi_integral_const")) {
-		r = get_ranged_double(value, &df, 0.0, DBL_MAX);
-		if (r != PARSED_OK)
-			return r;
-		*cfg->pi_integral_const = df;
-
 	} else if (!strcmp(option, "pi_proportional_scale")) {
 		r = get_ranged_double(value, &df, 0.0, DBL_MAX);
 		if (r != PARSED_OK)

config.h

@@ -69,7 +69,6 @@ struct config {
 	struct port_defaults pod;
 	enum servo_type clock_servo;
 
-	double *pi_integral_const;
 	double *pi_proportional_scale;
 	double *pi_proportional_exponent;
 	double *pi_proportional_norm_max;

phc2sys.c

@@ -1244,7 +1244,7 @@ int main(int argc, char *argv[])
 	cfg = &phc2sys_config;
 
 	config_set_double(cfg, "pi_proportional_const", KP);
-	configured_pi_ki = KI;
+	config_set_double(cfg, "pi_integral_const", KI);
 
 	/* Process the command line arguments. */
 	progname = strrchr(argv[0], '/');
@@ -1295,8 +1295,9 @@ int main(int argc, char *argv[])
 				return -1;
 			break;
 		case 'I':
-			if (get_arg_val_d(c, optarg, &configured_pi_ki,
+			if (get_arg_val_d(c, optarg, &tmp, 0.0, DBL_MAX))
-					  0.0, DBL_MAX))
+				return -1;
+			if (config_set_double(cfg, "pi_integral_const", tmp))
 				return -1;
 			break;
 		case 'S':

pi.c

@@ -36,7 +36,6 @@
 #define FREQ_EST_MARGIN 0.001
 
 /* These take their values from the configuration file. (see ptp4l.c) */
-double configured_pi_ki = 0.0;
 double configured_pi_kp_scale = 0.0;
 double configured_pi_kp_exponent = -0.3;
 double configured_pi_kp_norm_max = 0.7;
@@ -55,6 +54,7 @@ struct pi_servo {
 	int count;
 	/* configuration: */
 	double configured_pi_kp;
+	double configured_pi_ki;
 };
 
 static void pi_destroy(struct servo *servo)
@@ -196,13 +196,14 @@ struct servo *pi_servo_create(struct config *cfg, int fadj, int sw_ts)
 	s->kp            = 0.0;
 	s->ki            = 0.0;
 	s->configured_pi_kp = config_get_double(cfg, NULL, "pi_proportional_const");
+	s->configured_pi_ki = config_get_double(cfg, NULL, "pi_integral_const");
 
-	if (s->configured_pi_kp && configured_pi_ki) {
+	if (s->configured_pi_kp && s->configured_pi_ki) {
 		/* Use the constants as configured by the user without
 		   adjusting for sync interval unless they make the servo
 		   unstable. */
 		configured_pi_kp_scale = s->configured_pi_kp;
-		configured_pi_ki_scale = configured_pi_ki;
+		configured_pi_ki_scale = s->configured_pi_ki;
 		configured_pi_kp_exponent = 0.0;
 		configured_pi_ki_exponent = 0.0;
 		configured_pi_kp_norm_max = MAX_KP_NORM_MAX;

pi.h

@@ -21,12 +21,6 @@
 
 #include "servo.h"
 
-/**
- * When set to a non-zero value, this variable determines the
- * integral constant for the PI controller.
- */
-extern double configured_pi_ki;
-
 /**
  * When set to a non-zero value, this variable determines the scale in the
  * formula used to set the proportional constant of the PI controller from the

ptp4l.c

@@ -103,7 +103,6 @@ static struct config cfg_settings = {
 	.transport = TRANS_UDP_IPV4,
 	.clock_servo = CLOCK_SERVO_PI,
 
-	.pi_integral_const = &configured_pi_ki,
 	.pi_proportional_scale = &configured_pi_kp_scale,
 	.pi_proportional_exponent = &configured_pi_kp_exponent,
 	.pi_proportional_norm_max = &configured_pi_kp_norm_max,