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Print current frequency when PI servo is in unlocked state. 

Store the current frequency and return it when the servo is in unlocked
state instead of zero. This fixes values printed in log messages.

Signed-off-by: Miroslav Lichvar <mlichvar@redhat.com>
master
Miroslav Lichvar 2014-01-08 14:23:46 +01:00 committed by Richard Cochran
parent f7d745f8fa
commit cee9397b66
1 changed files with 5 additions and 2 deletions
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7
pi.c
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@ -58,6 +58,7 @@ struct pi_servo {
double ki;
double max_offset;
double max_f_offset;
double last_freq;
int count;
int first_update;
};
@ -73,9 +74,9 @@ static double pi_sample(struct servo *servo,
uint64_t local_ts,
enum servo_state *state)
{
double ki_term, ppb = 0.0;
double freq_est_interval, localdiff;
struct pi_servo *s = container_of(servo, struct pi_servo, servo);
double ki_term, ppb = s->last_freq;
double freq_est_interval, localdiff;
switch (s->count) {
case 0:
@ -153,6 +154,7 @@ static double pi_sample(struct servo *servo,
break;
}
s->last_freq = ppb;
return ppb;
}
@ -192,6 +194,7 @@ struct servo *pi_servo_create(int fadj, int max_ppb, int sw_ts)
s->servo.sync_interval = pi_sync_interval;
s->servo.reset = pi_reset;
s->drift = fadj;
s->last_freq = fadj;
s->maxppb = max_ppb;
s->first_update = 1;
s->kp = 0.0;