Signed-off-by: Richard Cochran <richardcoch...@gmail.com>
---
config.c | 7 +------
config.h | 1 -
phc2sys.c | 7 ++++---
pi.c | 7 ++++---
pi.h | 6 ------
ptp4l.c | 1 -
6 files changed, 9 insertions(+), 20 deletions(-)
diff --git a/config.c b/config.c
index 3bd98da..2437ec0 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_integral_const", 0.0, 0.0, DBL_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),
@@ -542,12 +543,6 @@ 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_integral_const")) {
- r = get_ranged_double(value, &df, 0.0, DBL_MAX);
- if (r != PARSED_OK)
- return r;
- *cfg->pi_integral_const = df;
-
} else if (!strcmp(option, "pi_proportional_scale")) {
r = get_ranged_double(value, &df, 0.0, DBL_MAX);
if (r != PARSED_OK)
diff --git a/config.h b/config.h
index 4f24f51..4b7bd74 100644
--- a/config.h
+++ b/config.h
@@ -69,7 +69,6 @@ struct config {
struct port_defaults pod;
enum servo_type clock_servo;
- double *pi_integral_const;
double *pi_proportional_scale;
double *pi_proportional_exponent;
double *pi_proportional_norm_max;
diff --git a/phc2sys.c b/phc2sys.c
index 76f161a..c2c611b 100644
--- a/phc2sys.c
+++ b/phc2sys.c
@@ -1244,7 +1244,7 @@ int main(int argc, char *argv[])
cfg = &phc2sys_config;
config_set_double(cfg, "pi_proportional_const", KP);
- configured_pi_ki = KI;
+ config_set_double(cfg, "pi_integral_const", KI);
/* Process the command line arguments. */
progname = strrchr(argv[0], '/');
@@ -1295,8 +1295,9 @@ int main(int argc, char *argv[])
return -1;
break;
case 'I':
- if (get_arg_val_d(c, optarg, &configured_pi_ki,
- 0.0, DBL_MAX))
+ if (get_arg_val_d(c, optarg, &tmp, 0.0, DBL_MAX))
+ return -1;
+ if (config_set_double(cfg, "pi_integral_const", tmp))
return -1;
break;
case 'S':
diff --git a/pi.c b/pi.c
index 7549dd6..dc3ccfd 100644
--- a/pi.c
+++ b/pi.c
@@ -36,7 +36,6 @@
#define FREQ_EST_MARGIN 0.001
/* These take their values from the configuration file. (see ptp4l.c) */
-double configured_pi_ki = 0.0;
double configured_pi_kp_scale = 0.0;
double configured_pi_kp_exponent = -0.3;
double configured_pi_kp_norm_max = 0.7;
@@ -55,6 +54,7 @@ struct pi_servo {
int count;
/* configuration: */
double configured_pi_kp;
+ double configured_pi_ki;
};
static void pi_destroy(struct servo *servo)
@@ -196,13 +196,14 @@ struct servo *pi_servo_create(struct config *cfg, int
fadj, int sw_ts)
s->kp = 0.0;
s->ki = 0.0;
s->configured_pi_kp = config_get_double(cfg, NULL,
"pi_proportional_const");
+ s->configured_pi_ki = config_get_double(cfg, NULL, "pi_integral_const");
- if (s->configured_pi_kp && configured_pi_ki) {
+ if (s->configured_pi_kp && s->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 = s->configured_pi_kp;
- configured_pi_ki_scale = configured_pi_ki;
+ configured_pi_ki_scale = s->configured_pi_ki;
configured_pi_kp_exponent = 0.0;
configured_pi_ki_exponent = 0.0;
configured_pi_kp_norm_max = MAX_KP_NORM_MAX;
diff --git a/pi.h b/pi.h
index cd3c74f..9993ab2 100644
--- a/pi.h
+++ b/pi.h
@@ -22,12 +22,6 @@
#include "servo.h"
/**
- * When set to a non-zero value, this variable determines the
- * integral constant for the PI controller.
- */
-extern double configured_pi_ki;
-
-/**
* When set to a non-zero value, this variable determines the scale in the
* formula used to set the proportional constant of the PI controller from the
* sync interval.
diff --git a/ptp4l.c b/ptp4l.c
index 5c23ddf..88f1180 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_integral_const = &configured_pi_ki,
.pi_proportional_scale = &configured_pi_kp_scale,
.pi_proportional_exponent = &configured_pi_kp_exponent,
.pi_proportional_norm_max = &configured_pi_kp_norm_max,
--
2.1.4
------------------------------------------------------------------------------
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