linuxptp/servo.c

106 lines
2.5 KiB
C

/**
* @file servo.c
* @note Copyright (C) 2011 Richard Cochran <richardcochran@gmail.com>
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
*/
#include <string.h>
#include "linreg.h"
#include "pi.h"
#include "servo_private.h"
#define NSEC_PER_SEC 1000000000
double servo_step_threshold = 0.0;
double servo_first_step_threshold = 0.00002; /* 20 microseconds */
int servo_max_frequency = 900000000;
struct servo *servo_create(enum servo_type type, int fadj, int max_ppb, int sw_ts)
{
struct servo *servo;
switch (type) {
case CLOCK_SERVO_PI:
servo = pi_servo_create(fadj, sw_ts);
break;
case CLOCK_SERVO_LINREG:
servo = linreg_servo_create(fadj);
break;
default:
return NULL;
}
if (servo_step_threshold > 0.0) {
servo->step_threshold = servo_step_threshold * NSEC_PER_SEC;
} else {
servo->step_threshold = 0.0;
}
if (servo_first_step_threshold > 0.0) {
servo->first_step_threshold =
servo_first_step_threshold * NSEC_PER_SEC;
} else {
servo->first_step_threshold = 0.0;
}
servo->max_frequency = max_ppb;
if (servo_max_frequency && servo->max_frequency > servo_max_frequency) {
servo->max_frequency = servo_max_frequency;
}
servo->first_update = 1;
return servo;
}
void servo_destroy(struct servo *servo)
{
servo->destroy(servo);
}
double servo_sample(struct servo *servo,
int64_t offset,
uint64_t local_ts,
enum servo_state *state)
{
double r;
r = servo->sample(servo, offset, local_ts, state);
if (*state != SERVO_UNLOCKED)
servo->first_update = 0;
return r;
}
void servo_sync_interval(struct servo *servo, double interval)
{
servo->sync_interval(servo, interval);
}
void servo_reset(struct servo *servo)
{
servo->reset(servo);
}
double servo_rate_ratio(struct servo *servo)
{
if (servo->rate_ratio)
return servo->rate_ratio(servo);
return 1.0;
}