b8160f2760
this patch modifies the pi servo to add a configurable max offset (default infinity). When ever the detected offset is larger than this value, the clock will jump and reset the servo state. The value of this feature is for decreasing time to stabalize when clock is off by a large ammount during late running. This can occur when the upstream master changes, or when the clock is reset due to outside forces. The method used to reset clock is simply to reset the pi servo to the unlocked state. Signed-off-by: Jacob Keller <jacob.e.keller@intel.com>
48 lines
1.5 KiB
C
48 lines
1.5 KiB
C
/**
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* @file pi.h
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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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#ifndef HAVE_PI_H
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#define HAVE_PI_H
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#include "servo.h"
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/**
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* When set to a non-zero value, this variable determines the
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* proportional constant for the PI controller.
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*/
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extern double configured_pi_kp;
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/**
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* When set to a non-zero value, this variable determines the
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* integral constant for the PI controller.
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*/
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extern double configured_pi_ki;
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/**
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* When set to a non-zero value, this variable controls the maximum allowed
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* offset before a clock jump occurs instead of the default clock-slewing
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* mechanism
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*
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* Note that this variable is measured in seconds, and allows fractional values.
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*/
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extern double configured_pi_offset;
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struct servo *pi_servo_create(int fadj, int max_ppb, int sw_ts);
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#endif
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