config: convert 'pi_proportional_norm_max' to the new scheme.
Signed-off-by: Richard Cochran <richardcochran@gmail.com>master
parent
d48c8ce8a5
commit
b57840cef9
7
config.c
7
config.c
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@ -99,6 +99,7 @@ struct config_item config_tab[] = {
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GLOB_ITEM_DBL("pi_integral_const", 0.0, 0.0, DBL_MAX),
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GLOB_ITEM_DBL("pi_integral_const", 0.0, 0.0, DBL_MAX),
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GLOB_ITEM_DBL("pi_proportional_const", 0.0, 0.0, DBL_MAX),
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GLOB_ITEM_DBL("pi_proportional_const", 0.0, 0.0, DBL_MAX),
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GLOB_ITEM_DBL("pi_proportional_exponent", -0.3, -DBL_MAX, DBL_MAX),
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GLOB_ITEM_DBL("pi_proportional_exponent", -0.3, -DBL_MAX, DBL_MAX),
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GLOB_ITEM_DBL("pi_proportional_norm_max", 0.7, DBL_MIN, 1.0),
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GLOB_ITEM_DBL("pi_proportional_scale", 0.0, 0.0, DBL_MAX),
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GLOB_ITEM_DBL("pi_proportional_scale", 0.0, 0.0, DBL_MAX),
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GLOB_ITEM_DBL("step_threshold", 0.0, 0.0, DBL_MAX),
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GLOB_ITEM_DBL("step_threshold", 0.0, 0.0, DBL_MAX),
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GLOB_ITEM_INT("tx_timestamp_timeout", 1, 1, INT_MAX),
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GLOB_ITEM_INT("tx_timestamp_timeout", 1, 1, INT_MAX),
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@ -545,12 +546,6 @@ static enum parser_result parse_global_setting(const char *option,
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cfg->dds.freq_est_interval = val;
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cfg->dds.freq_est_interval = val;
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pod->freq_est_interval = val;
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pod->freq_est_interval = val;
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} else if (!strcmp(option, "pi_proportional_norm_max")) {
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r = get_ranged_double(value, &df, DBL_MIN, 1.0);
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if (r != PARSED_OK)
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return r;
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*cfg->pi_proportional_norm_max = df;
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} else if (!strcmp(option, "pi_integral_scale")) {
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} else if (!strcmp(option, "pi_integral_scale")) {
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r = get_ranged_double(value, &df, 0.0, DBL_MAX);
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r = get_ranged_double(value, &df, 0.0, DBL_MAX);
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if (r != PARSED_OK)
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if (r != PARSED_OK)
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1
config.h
1
config.h
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@ -69,7 +69,6 @@ struct config {
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struct port_defaults pod;
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struct port_defaults pod;
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enum servo_type clock_servo;
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enum servo_type clock_servo;
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double *pi_proportional_norm_max;
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double *pi_integral_scale;
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double *pi_integral_scale;
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double *pi_integral_exponent;
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double *pi_integral_exponent;
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double *pi_integral_norm_max;
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double *pi_integral_norm_max;
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10
pi.c
10
pi.c
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@ -36,7 +36,6 @@
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#define FREQ_EST_MARGIN 0.001
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#define FREQ_EST_MARGIN 0.001
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/* These take their values from the configuration file. (see ptp4l.c) */
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/* These take their values from the configuration file. (see ptp4l.c) */
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double configured_pi_kp_norm_max = 0.7;
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double configured_pi_ki_scale = 0.0;
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double configured_pi_ki_scale = 0.0;
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double configured_pi_ki_exponent = 0.4;
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double configured_pi_ki_exponent = 0.4;
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double configured_pi_ki_norm_max = 0.3;
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double configured_pi_ki_norm_max = 0.3;
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@ -55,6 +54,7 @@ struct pi_servo {
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double configured_pi_ki;
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double configured_pi_ki;
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double configured_pi_kp_scale;
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double configured_pi_kp_scale;
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double configured_pi_kp_exponent;
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double configured_pi_kp_exponent;
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double configured_pi_kp_norm_max;
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};
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};
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static void pi_destroy(struct servo *servo)
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static void pi_destroy(struct servo *servo)
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@ -161,8 +161,8 @@ static void pi_sync_interval(struct servo *servo, double interval)
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struct pi_servo *s = container_of(servo, struct pi_servo, servo);
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struct pi_servo *s = container_of(servo, struct pi_servo, servo);
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s->kp = s->configured_pi_kp_scale * pow(interval, s->configured_pi_kp_exponent);
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s->kp = s->configured_pi_kp_scale * pow(interval, s->configured_pi_kp_exponent);
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if (s->kp > configured_pi_kp_norm_max / interval)
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if (s->kp > s->configured_pi_kp_norm_max / interval)
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s->kp = configured_pi_kp_norm_max / interval;
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s->kp = s->configured_pi_kp_norm_max / interval;
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s->ki = configured_pi_ki_scale * pow(interval, configured_pi_ki_exponent);
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s->ki = configured_pi_ki_scale * pow(interval, configured_pi_ki_exponent);
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if (s->ki > configured_pi_ki_norm_max / interval)
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if (s->ki > configured_pi_ki_norm_max / interval)
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@ -200,6 +200,8 @@ struct servo *pi_servo_create(struct config *cfg, int fadj, int sw_ts)
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s->configured_pi_kp_scale = config_get_double(cfg, NULL, "pi_proportional_scale");
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s->configured_pi_kp_scale = config_get_double(cfg, NULL, "pi_proportional_scale");
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s->configured_pi_kp_exponent =
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s->configured_pi_kp_exponent =
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config_get_double(cfg, NULL, "pi_proportional_exponent");
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config_get_double(cfg, NULL, "pi_proportional_exponent");
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s->configured_pi_kp_norm_max =
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config_get_double(cfg, NULL, "pi_proportional_norm_max");
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if (s->configured_pi_kp && s->configured_pi_ki) {
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if (s->configured_pi_kp && s->configured_pi_ki) {
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/* Use the constants as configured by the user without
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/* Use the constants as configured by the user without
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@ -209,7 +211,7 @@ struct servo *pi_servo_create(struct config *cfg, int fadj, int sw_ts)
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configured_pi_ki_scale = s->configured_pi_ki;
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configured_pi_ki_scale = s->configured_pi_ki;
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s->configured_pi_kp_exponent = 0.0;
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s->configured_pi_kp_exponent = 0.0;
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configured_pi_ki_exponent = 0.0;
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configured_pi_ki_exponent = 0.0;
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configured_pi_kp_norm_max = MAX_KP_NORM_MAX;
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s->configured_pi_kp_norm_max = MAX_KP_NORM_MAX;
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configured_pi_ki_norm_max = MAX_KI_NORM_MAX;
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configured_pi_ki_norm_max = MAX_KI_NORM_MAX;
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} else if (!s->configured_pi_kp_scale || !configured_pi_ki_scale) {
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} else if (!s->configured_pi_kp_scale || !configured_pi_ki_scale) {
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if (sw_ts) {
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if (sw_ts) {
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7
pi.h
7
pi.h
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@ -21,13 +21,6 @@
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#include "servo.h"
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#include "servo.h"
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/**
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* This variable determines the normalized maximum in the formula used to set
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* the proportional constant of the PI controller from the sync interval.
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* kp = min(kp_scale * sync^kp_exponent, kp_norm_max / sync)
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*/
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extern double configured_pi_kp_norm_max;
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/**
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/**
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* When set to a non-zero value, this variable determines the scale in the
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* When set to a non-zero value, this variable determines the scale in the
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* formula used to set the integral constant of the PI controller from the
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* formula used to set the integral constant of the PI controller from the
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1
ptp4l.c
1
ptp4l.c
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@ -103,7 +103,6 @@ static struct config cfg_settings = {
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.transport = TRANS_UDP_IPV4,
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.transport = TRANS_UDP_IPV4,
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.clock_servo = CLOCK_SERVO_PI,
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.clock_servo = CLOCK_SERVO_PI,
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.pi_proportional_norm_max = &configured_pi_kp_norm_max,
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.pi_integral_scale = &configured_pi_ki_scale,
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.pi_integral_scale = &configured_pi_ki_scale,
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.pi_integral_exponent = &configured_pi_ki_exponent,
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.pi_integral_exponent = &configured_pi_ki_exponent,
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.pi_integral_norm_max = &configured_pi_ki_norm_max,
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.pi_integral_norm_max = &configured_pi_ki_norm_max,
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