diff --git a/config.c b/config.c index b649cf0..3bd98da 100644 --- a/config.c +++ b/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_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), PORT_ITEM_INT("udp_ttl", 1, 1, 255), @@ -541,12 +542,6 @@ 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_proportional_const")) { - r = get_ranged_double(value, &df, 0.0, DBL_MAX); - if (r != PARSED_OK) - return r; - *cfg->pi_proportional_const = df; - } else if (!strcmp(option, "pi_integral_const")) { r = get_ranged_double(value, &df, 0.0, DBL_MAX); if (r != PARSED_OK) diff --git a/config.h b/config.h index db7963f..4f24f51 100644 --- a/config.h +++ b/config.h @@ -69,7 +69,6 @@ struct config { struct port_defaults pod; enum servo_type clock_servo; - double *pi_proportional_const; double *pi_integral_const; double *pi_proportional_scale; double *pi_proportional_exponent; diff --git a/phc2sys.c b/phc2sys.c index 44ba1fc..76f161a 100644 --- a/phc2sys.c +++ b/phc2sys.c @@ -1243,7 +1243,7 @@ int main(int argc, char *argv[]) } cfg = &phc2sys_config; - configured_pi_kp = KP; + config_set_double(cfg, "pi_proportional_const", KP); configured_pi_ki = KI; /* Process the command line arguments. */ @@ -1289,8 +1289,9 @@ int main(int argc, char *argv[]) } break; case 'P': - if (get_arg_val_d(c, optarg, &configured_pi_kp, - 0.0, DBL_MAX)) + if (get_arg_val_d(c, optarg, &tmp, 0.0, DBL_MAX)) + return -1; + if (config_set_double(cfg, "pi_proportional_const", tmp)) return -1; break; case 'I': diff --git a/pi.c b/pi.c index e0116fe..7549dd6 100644 --- a/pi.c +++ b/pi.c @@ -20,6 +20,7 @@ #include #include +#include "config.h" #include "pi.h" #include "print.h" #include "servo_private.h" @@ -35,7 +36,6 @@ #define FREQ_EST_MARGIN 0.001 /* These take their values from the configuration file. (see ptp4l.c) */ -double configured_pi_kp = 0.0; double configured_pi_ki = 0.0; double configured_pi_kp_scale = 0.0; double configured_pi_kp_exponent = -0.3; @@ -53,6 +53,8 @@ struct pi_servo { double ki; double last_freq; int count; + /* configuration: */ + double configured_pi_kp; }; static void pi_destroy(struct servo *servo) @@ -177,7 +179,7 @@ static void pi_reset(struct servo *servo) s->count = 0; } -struct servo *pi_servo_create(int fadj, int sw_ts) +struct servo *pi_servo_create(struct config *cfg, int fadj, int sw_ts) { struct pi_servo *s; @@ -193,12 +195,13 @@ struct servo *pi_servo_create(int fadj, int sw_ts) s->last_freq = fadj; s->kp = 0.0; s->ki = 0.0; + s->configured_pi_kp = config_get_double(cfg, NULL, "pi_proportional_const"); - if (configured_pi_kp && configured_pi_ki) { + if (s->configured_pi_kp && 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 = configured_pi_kp; + configured_pi_kp_scale = s->configured_pi_kp; configured_pi_ki_scale = configured_pi_ki; configured_pi_kp_exponent = 0.0; configured_pi_ki_exponent = 0.0; diff --git a/pi.h b/pi.h index 7b092a0..cd3c74f 100644 --- a/pi.h +++ b/pi.h @@ -21,12 +21,6 @@ #include "servo.h" -/** - * When set to a non-zero value, this variable determines the - * proportional constant for the PI controller. - */ -extern double configured_pi_kp; - /** * When set to a non-zero value, this variable determines the * integral constant for the PI controller. @@ -77,6 +71,6 @@ extern double configured_pi_ki_exponent; */ extern double configured_pi_ki_norm_max; -struct servo *pi_servo_create(int fadj, int sw_ts); +struct servo *pi_servo_create(struct config *cfg, int fadj, int sw_ts); #endif diff --git a/ptp4l.c b/ptp4l.c index 78261a9..5c23ddf 100644 --- a/ptp4l.c +++ b/ptp4l.c @@ -103,7 +103,6 @@ static struct config cfg_settings = { .transport = TRANS_UDP_IPV4, .clock_servo = CLOCK_SERVO_PI, - .pi_proportional_const = &configured_pi_kp, .pi_integral_const = &configured_pi_ki, .pi_proportional_scale = &configured_pi_kp_scale, .pi_proportional_exponent = &configured_pi_kp_exponent, diff --git a/servo.c b/servo.c index 2e82ebe..0449223 100644 --- a/servo.c +++ b/servo.c @@ -37,7 +37,7 @@ struct servo *servo_create(struct config *cfg, enum servo_type type, switch (type) { case CLOCK_SERVO_PI: - servo = pi_servo_create(fadj, sw_ts); + servo = pi_servo_create(cfg, fadj, sw_ts); break; case CLOCK_SERVO_LINREG: servo = linreg_servo_create(fadj);