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