Signed-off-by: Richard Cochran <richardcoch...@gmail.com>
---
config.c | 7 +------
config.h | 1 -
phc2sys.c | 7 ++++---
pi.c | 11 +++++++----
pi.h | 8 +-------
ptp4l.c | 1 -
servo.c | 2 +-
7 files changed, 14 insertions(+), 23 deletions(-)
diff --git a/config.c b/config.c
index b649cf0..3bd98da 100644
--- a/config.c
+++ b/config.c
@@ -96,6 +96,7 @@ struct config_item config_tab[] = {
GLOB_ITEM_DBL("first_step_threshold", 0.00002, 0.0, DBL_MAX),
GLOB_ITEM_INT("logging_level", LOG_INFO, PRINT_LEVEL_MIN,
PRINT_LEVEL_MAX),
GLOB_ITEM_INT("max_frequency", 900000000, 0, INT_MAX),
+ GLOB_ITEM_DBL("pi_proportional_const", 0.0, 0.0, DBL_MAX),
GLOB_ITEM_DBL("step_threshold", 0.0, 0.0, DBL_MAX),
GLOB_ITEM_INT("tx_timestamp_timeout", 1, 1, INT_MAX),
PORT_ITEM_INT("udp_ttl", 1, 1, 255),
@@ -541,12 +542,6 @@ static enum parser_result parse_global_setting(const char
*option,
cfg->dds.freq_est_interval = val;
pod->freq_est_interval = val;
- } else if (!strcmp(option, "pi_proportional_const")) {
- r = get_ranged_double(value, &df, 0.0, DBL_MAX);
- if (r != PARSED_OK)
- return r;
- *cfg->pi_proportional_const = df;
-
} else if (!strcmp(option, "pi_integral_const")) {
r = get_ranged_double(value, &df, 0.0, DBL_MAX);
if (r != PARSED_OK)
diff --git a/config.h b/config.h
index db7963f..4f24f51 100644
--- a/config.h
+++ b/config.h
@@ -69,7 +69,6 @@ struct config {
struct port_defaults pod;
enum servo_type clock_servo;
- double *pi_proportional_const;
double *pi_integral_const;
double *pi_proportional_scale;
double *pi_proportional_exponent;
diff --git a/phc2sys.c b/phc2sys.c
index 44ba1fc..76f161a 100644
--- a/phc2sys.c
+++ b/phc2sys.c
@@ -1243,7 +1243,7 @@ int main(int argc, char *argv[])
}
cfg = &phc2sys_config;
- configured_pi_kp = KP;
+ config_set_double(cfg, "pi_proportional_const", KP);
configured_pi_ki = KI;
/* Process the command line arguments. */
@@ -1289,8 +1289,9 @@ int main(int argc, char *argv[])
}
break;
case 'P':
- if (get_arg_val_d(c, optarg, &configured_pi_kp,
- 0.0, DBL_MAX))
+ if (get_arg_val_d(c, optarg, &tmp, 0.0, DBL_MAX))
+ return -1;
+ if (config_set_double(cfg, "pi_proportional_const",
tmp))
return -1;
break;
case 'I':
diff --git a/pi.c b/pi.c
index e0116fe..7549dd6 100644
--- a/pi.c
+++ b/pi.c
@@ -20,6 +20,7 @@
#include <stdlib.h>
#include <math.h>
+#include "config.h"
#include "pi.h"
#include "print.h"
#include "servo_private.h"
@@ -35,7 +36,6 @@
#define FREQ_EST_MARGIN 0.001
/* These take their values from the configuration file. (see ptp4l.c) */
-double configured_pi_kp = 0.0;
double configured_pi_ki = 0.0;
double configured_pi_kp_scale = 0.0;
double configured_pi_kp_exponent = -0.3;
@@ -53,6 +53,8 @@ struct pi_servo {
double ki;
double last_freq;
int count;
+ /* configuration: */
+ double configured_pi_kp;
};
static void pi_destroy(struct servo *servo)
@@ -177,7 +179,7 @@ static void pi_reset(struct servo *servo)
s->count = 0;
}
-struct servo *pi_servo_create(int fadj, int sw_ts)
+struct servo *pi_servo_create(struct config *cfg, int fadj, int sw_ts)
{
struct pi_servo *s;
@@ -193,12 +195,13 @@ struct servo *pi_servo_create(int fadj, int sw_ts)
s->last_freq = fadj;
s->kp = 0.0;
s->ki = 0.0;
+ s->configured_pi_kp = config_get_double(cfg, NULL,
"pi_proportional_const");
- if (configured_pi_kp && configured_pi_ki) {
+ if (s->configured_pi_kp && configured_pi_ki) {
/* Use the constants as configured by the user without
adjusting for sync interval unless they make the servo
unstable. */
- configured_pi_kp_scale = configured_pi_kp;
+ configured_pi_kp_scale = s->configured_pi_kp;
configured_pi_ki_scale = configured_pi_ki;
configured_pi_kp_exponent = 0.0;
configured_pi_ki_exponent = 0.0;
diff --git a/pi.h b/pi.h
index 7b092a0..cd3c74f 100644
--- a/pi.h
+++ b/pi.h
@@ -23,12 +23,6 @@
/**
* When set to a non-zero value, this variable determines the
- * proportional constant for the PI controller.
- */
-extern double configured_pi_kp;
-
-/**
- * When set to a non-zero value, this variable determines the
* integral constant for the PI controller.
*/
extern double configured_pi_ki;
@@ -77,6 +71,6 @@ extern double configured_pi_ki_exponent;
*/
extern double configured_pi_ki_norm_max;
-struct servo *pi_servo_create(int fadj, int sw_ts);
+struct servo *pi_servo_create(struct config *cfg, int fadj, int sw_ts);
#endif
diff --git a/ptp4l.c b/ptp4l.c
index 78261a9..5c23ddf 100644
--- a/ptp4l.c
+++ b/ptp4l.c
@@ -103,7 +103,6 @@ static struct config cfg_settings = {
.transport = TRANS_UDP_IPV4,
.clock_servo = CLOCK_SERVO_PI,
- .pi_proportional_const = &configured_pi_kp,
.pi_integral_const = &configured_pi_ki,
.pi_proportional_scale = &configured_pi_kp_scale,
.pi_proportional_exponent = &configured_pi_kp_exponent,
diff --git a/servo.c b/servo.c
index 2e82ebe..0449223 100644
--- a/servo.c
+++ b/servo.c
@@ -37,7 +37,7 @@ struct servo *servo_create(struct config *cfg, enum
servo_type type,
switch (type) {
case CLOCK_SERVO_PI:
- servo = pi_servo_create(fadj, sw_ts);
+ servo = pi_servo_create(cfg, fadj, sw_ts);
break;
case CLOCK_SERVO_LINREG:
servo = linreg_servo_create(fadj);
--
2.1.4
------------------------------------------------------------------------------
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