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
|
@ -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)
|
||||
|
|
1
config.h
1
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;
|
||||
|
|
10
pi.c
10
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) {
|
||||
|
|
7
pi.h
7
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
|
||||
|
|
1
ptp4l.c
1
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,
|
||||
|
|
Loading…
Reference in New Issue