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config: convert 'pi_proportional_norm_max' to the new scheme. 

Signed-off-by: Richard Cochran <richardcochran@gmail.com>
master
Richard Cochran 2015-08-14 21:25:27 +02:00
parent d48c8ce8a5
commit b57840cef9
5 changed files with 7 additions and 19 deletions
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7
config.c
View File

@ -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_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_const", 0.0, 0.0, DBL_MAX),
GLOB_ITEM_DBL("pi_proportional_exponent", -0.3, -DBL_MAX, 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("pi_proportional_scale", 0.0, 0.0, DBL_MAX),
GLOB_ITEM_DBL("step_threshold", 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), 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; cfg->dds.freq_est_interval = val;
pod->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")) { } else if (!strcmp(option, "pi_integral_scale")) {
r = get_ranged_double(value, &df, 0.0, DBL_MAX); r = get_ranged_double(value, &df, 0.0, DBL_MAX);
if (r != PARSED_OK) if (r != PARSED_OK)

1
config.h
View File

@ -69,7 +69,6 @@ struct config {
struct port_defaults pod; struct port_defaults pod;
enum servo_type clock_servo; enum servo_type clock_servo;
double *pi_proportional_norm_max;
double *pi_integral_scale; double *pi_integral_scale;
double *pi_integral_exponent; double *pi_integral_exponent;
double *pi_integral_norm_max; double *pi_integral_norm_max;

10
pi.c
View File

@ -36,7 +36,6 @@
#define FREQ_EST_MARGIN 0.001 #define FREQ_EST_MARGIN 0.001
/* These take their values from the configuration file. (see ptp4l.c) */ /* 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_scale = 0.0;
double configured_pi_ki_exponent = 0.4; double configured_pi_ki_exponent = 0.4;
double configured_pi_ki_norm_max = 0.3; double configured_pi_ki_norm_max = 0.3;
@ -55,6 +54,7 @@ struct pi_servo {
double configured_pi_ki; double configured_pi_ki;
double configured_pi_kp_scale; double configured_pi_kp_scale;
double configured_pi_kp_exponent; double configured_pi_kp_exponent;
double configured_pi_kp_norm_max;
}; };
static void pi_destroy(struct servo *servo) 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); 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); s->kp = s->configured_pi_kp_scale * pow(interval, s->configured_pi_kp_exponent);
if (s->kp > configured_pi_kp_norm_max / interval) if (s->kp > s->configured_pi_kp_norm_max / interval)
s->kp = 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); s->ki = configured_pi_ki_scale * pow(interval, configured_pi_ki_exponent);
if (s->ki > configured_pi_ki_norm_max / interval) 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_scale = config_get_double(cfg, NULL, "pi_proportional_scale");
s->configured_pi_kp_exponent = s->configured_pi_kp_exponent =
config_get_double(cfg, NULL, "pi_proportional_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) { if (s->configured_pi_kp && s->configured_pi_ki) {
/* Use the constants as configured by the user without /* 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; configured_pi_ki_scale = s->configured_pi_ki;
s->configured_pi_kp_exponent = 0.0; s->configured_pi_kp_exponent = 0.0;
configured_pi_ki_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; configured_pi_ki_norm_max = MAX_KI_NORM_MAX;
} else if (!s->configured_pi_kp_scale || !configured_pi_ki_scale) { } else if (!s->configured_pi_kp_scale || !configured_pi_ki_scale) {
if (sw_ts) { if (sw_ts) {

7
pi.h
View File

@ -21,13 +21,6 @@
#include "servo.h" #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 * 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 * formula used to set the integral constant of the PI controller from the

1
ptp4l.c
View File

@ -103,7 +103,6 @@ static struct config cfg_settings = {
.transport = TRANS_UDP_IPV4, .transport = TRANS_UDP_IPV4,
.clock_servo = CLOCK_SERVO_PI, .clock_servo = CLOCK_SERVO_PI,
.pi_proportional_norm_max = &configured_pi_kp_norm_max,
.pi_integral_scale = &configured_pi_ki_scale, .pi_integral_scale = &configured_pi_ki_scale,
.pi_integral_exponent = &configured_pi_ki_exponent, .pi_integral_exponent = &configured_pi_ki_exponent,
.pi_integral_norm_max = &configured_pi_ki_norm_max, .pi_integral_norm_max = &configured_pi_ki_norm_max,