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Make the PI constants configurable. 

Signed-off-by: Richard Cochran <richardcochran@gmail.com>
master
Richard Cochran 2012-05-03 11:17:34 +02:00
parent aea4cfcd50
commit f2aae280b3
5 changed files with 26 additions and 1 deletions
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11
config.c
View File

@ -22,6 +22,7 @@
static void scan_line(char *s, struct config *cfg) static void scan_line(char *s, struct config *cfg)
{ {
double df;
int val; int val;
Integer8 i8; Integer8 i8;
UInteger16 u16; UInteger16 u16;
@ -84,6 +85,16 @@ static void scan_line(char *s, struct config *cfg)
if (val > 0) if (val > 0)
*cfg->tx_timestamp_retries = val; *cfg->tx_timestamp_retries = val;
} else if (1 == sscanf(s, " pi_proportional_const %lf", &df)) {
if (df > 0.0 && df < 1.0)
*cfg->pi_proportional_const = df;
} else if (1 == sscanf(s, " pi_integral_const %lf", &df)) {
if (df > 0.0 && df < 1.0)
*cfg->pi_integral_const = df;
} }
} }

2
config.h
View File

@ -26,6 +26,8 @@ struct config {
struct defaultDS *dds; struct defaultDS *dds;
struct port_defaults *pod; struct port_defaults *pod;
int *tx_timestamp_retries; int *tx_timestamp_retries;
double *pi_proportional_const;
double *pi_integral_const;
}; };
int config_read(char *name, struct config *cfg); int config_read(char *name, struct config *cfg);

2
default.cfg
View File

@ -20,3 +20,5 @@ announceReceiptTimeout 3
# Run time options # Run time options
# #
tx_timestamp_retries 2 tx_timestamp_retries 2
pi_proportional_const 0.0
pi_integral_const 0.0

9
pi.c
View File

@ -28,6 +28,10 @@
#define SWTS_KP 0.1 #define SWTS_KP 0.1
#define SWTS_KI 0.001 #define SWTS_KI 0.001
/* These two take their values from the configuration file. (see ptp4l.c) */
extern double configured_pi_kp;
extern double configured_pi_ki;
struct pi_servo { struct pi_servo {
struct servo servo; struct servo servo;
double offset[2]; double offset[2];
@ -105,7 +109,10 @@ struct servo *pi_servo_create(int max_ppb, int sw_ts)
s->servo.sample = pi_sample; s->servo.sample = pi_sample;
s->maxppb = max_ppb; s->maxppb = max_ppb;
if (sw_ts) { if (configured_pi_kp && configured_pi_ki) {
s->kp = configured_pi_kp;
s->ki = configured_pi_ki;
} else if (sw_ts) {
s->kp = SWTS_KP; s->kp = SWTS_KP;
s->ki = SWTS_KI; s->ki = SWTS_KI;
} else { } else {

3
ptp4l.c
View File

@ -31,6 +31,7 @@
#define DEFAULT_PHC "/dev/ptp0" #define DEFAULT_PHC "/dev/ptp0"
int sk_tx_retries = 2; /*see sk.c*/ int sk_tx_retries = 2; /*see sk.c*/
double configured_pi_kp, configured_pi_ki; /*see pi.c*/
static int running = 1; static int running = 1;
static struct defaultDS ds; static struct defaultDS ds;
@ -199,6 +200,8 @@ int main(int argc, char *argv[])
cfg_settings.dds = &ds; cfg_settings.dds = &ds;
cfg_settings.pod = &pod; cfg_settings.pod = &pod;
cfg_settings.tx_timestamp_retries = &sk_tx_retries; cfg_settings.tx_timestamp_retries = &sk_tx_retries;
cfg_settings.pi_proportional_const = &configured_pi_kp;
cfg_settings.pi_integral_const = &configured_pi_ki;
if (config && config_read(config, &cfg_settings)) { if (config && config_read(config, &cfg_settings)) {
fprintf(stderr, "failed to read configuration file\n"); fprintf(stderr, "failed to read configuration file\n");