From b57840cef9a27dc5949e8a5e9bb8963ba6e76072 Mon Sep 17 00:00:00 2001 From: Richard Cochran Date: Fri, 14 Aug 2015 21:25:27 +0200 Subject: [PATCH] config: convert 'pi_proportional_norm_max' to the new scheme. Signed-off-by: Richard Cochran --- config.c | 7 +------ config.h | 1 - pi.c | 10 ++++++---- pi.h | 7 ------- ptp4l.c | 1 - 5 files changed, 7 insertions(+), 19 deletions(-) diff --git a/config.c b/config.c index 43f96fe..5775272 100644 --- a/config.c +++ b/config.c @@ -99,6 +99,7 @@ struct config_item config_tab[] = { 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("pi_proportional_exponent", -0.3, -DBL_MAX, DBL_MAX), + GLOB_ITEM_DBL("pi_proportional_norm_max", 0.7, DBL_MIN, 1.0), GLOB_ITEM_DBL("pi_proportional_scale", 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), @@ -545,12 +546,6 @@ 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_norm_max")) { - r = get_ranged_double(value, &df, DBL_MIN, 1.0); - if (r != PARSED_OK) - return r; - *cfg->pi_proportional_norm_max = df; - } else if (!strcmp(option, "pi_integral_scale")) { r = get_ranged_double(value, &df, 0.0, DBL_MAX); if (r != PARSED_OK) diff --git a/config.h b/config.h index afd7142..37e540d 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_norm_max; double *pi_integral_scale; double *pi_integral_exponent; double *pi_integral_norm_max; diff --git a/pi.c b/pi.c index b340963..ef3c619 100644 --- a/pi.c +++ b/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_kp_norm_max = 0.7; double configured_pi_ki_scale = 0.0; double configured_pi_ki_exponent = 0.4; double configured_pi_ki_norm_max = 0.3; @@ -55,6 +54,7 @@ struct pi_servo { double configured_pi_ki; double configured_pi_kp_scale; double configured_pi_kp_exponent; + double configured_pi_kp_norm_max; }; static void pi_destroy(struct servo *servo) @@ -161,8 +161,8 @@ static void pi_sync_interval(struct servo *servo, double interval) struct pi_servo *s = container_of(servo, struct pi_servo, servo); s->kp = s->configured_pi_kp_scale * pow(interval, s->configured_pi_kp_exponent); - if (s->kp > configured_pi_kp_norm_max / interval) - s->kp = configured_pi_kp_norm_max / interval; + if (s->kp > s->configured_pi_kp_norm_max / interval) + s->kp = s->configured_pi_kp_norm_max / interval; s->ki = configured_pi_ki_scale * pow(interval, configured_pi_ki_exponent); if (s->ki > configured_pi_ki_norm_max / interval) @@ -200,6 +200,8 @@ struct servo *pi_servo_create(struct config *cfg, int fadj, int sw_ts) s->configured_pi_kp_scale = config_get_double(cfg, NULL, "pi_proportional_scale"); s->configured_pi_kp_exponent = config_get_double(cfg, NULL, "pi_proportional_exponent"); + s->configured_pi_kp_norm_max = + config_get_double(cfg, NULL, "pi_proportional_norm_max"); if (s->configured_pi_kp && s->configured_pi_ki) { /* Use the constants as configured by the user without @@ -209,7 +211,7 @@ struct servo *pi_servo_create(struct config *cfg, int fadj, int sw_ts) configured_pi_ki_scale = s->configured_pi_ki; s->configured_pi_kp_exponent = 0.0; configured_pi_ki_exponent = 0.0; - configured_pi_kp_norm_max = MAX_KP_NORM_MAX; + s->configured_pi_kp_norm_max = MAX_KP_NORM_MAX; configured_pi_ki_norm_max = MAX_KI_NORM_MAX; } else if (!s->configured_pi_kp_scale || !configured_pi_ki_scale) { if (sw_ts) { diff --git a/pi.h b/pi.h index 27a64b1..514186c 100644 --- a/pi.h +++ b/pi.h @@ -21,13 +21,6 @@ #include "servo.h" -/** - * This variable determines the normalized maximum in the formula used to set - * the proportional constant of the PI controller from the sync interval. - * kp = min(kp_scale * sync^kp_exponent, kp_norm_max / sync) - */ -extern double configured_pi_kp_norm_max; - /** * When set to a non-zero value, this variable determines the scale in the * formula used to set the integral constant of the PI controller from the diff --git a/ptp4l.c b/ptp4l.c index 43dd977..b60e531 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_norm_max = &configured_pi_kp_norm_max, .pi_integral_scale = &configured_pi_ki_scale, .pi_integral_exponent = &configured_pi_ki_exponent, .pi_integral_norm_max = &configured_pi_ki_norm_max,