Signed-off-by: Richard Cochran <[email protected]>
---
config.c | 7 +------
config.h | 1 -
pi.c | 13 +++++++------
pi.h | 8 --------
ptp4l.c | 1 -
5 files changed, 8 insertions(+), 22 deletions(-)
diff --git a/config.c b/config.c
index 2437ec0..07cb016 100644
--- a/config.c
+++ b/config.c
@@ -98,6 +98,7 @@ struct config_item config_tab[] = {
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("pi_proportional_scale", 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),
@@ -543,12 +544,6 @@ 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_scale")) {
- r = get_ranged_double(value, &df, 0.0, DBL_MAX);
- if (r != PARSED_OK)
- return r;
- *cfg->pi_proportional_scale = df;
-
} else if (!strcmp(option, "pi_proportional_exponent")) {
r = get_ranged_double(value, &df, -DBL_MAX, DBL_MAX);
if (r != PARSED_OK)
diff --git a/config.h b/config.h
index 4b7bd74..4b8a4a2 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_scale;
double *pi_proportional_exponent;
double *pi_proportional_norm_max;
double *pi_integral_scale;
diff --git a/pi.c b/pi.c
index dc3ccfd..8fe847a 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_kp_scale = 0.0;
double configured_pi_kp_exponent = -0.3;
double configured_pi_kp_norm_max = 0.7;
double configured_pi_ki_scale = 0.0;
@@ -55,6 +54,7 @@ struct pi_servo {
/* configuration: */
double configured_pi_kp;
double configured_pi_ki;
+ double configured_pi_kp_scale;
};
static void pi_destroy(struct servo *servo)
@@ -160,7 +160,7 @@ static void pi_sync_interval(struct servo *servo, double
interval)
{
struct pi_servo *s = container_of(servo, struct pi_servo, servo);
- s->kp = configured_pi_kp_scale * pow(interval,
configured_pi_kp_exponent);
+ s->kp = s->configured_pi_kp_scale * pow(interval,
configured_pi_kp_exponent);
if (s->kp > configured_pi_kp_norm_max / interval)
s->kp = configured_pi_kp_norm_max / interval;
@@ -197,23 +197,24 @@ struct servo *pi_servo_create(struct config *cfg, int
fadj, int sw_ts)
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");
+ s->configured_pi_kp_scale = config_get_double(cfg, NULL,
"pi_proportional_scale");
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;
+ s->configured_pi_kp_scale = s->configured_pi_kp;
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;
configured_pi_ki_norm_max = MAX_KI_NORM_MAX;
- } else if (!configured_pi_kp_scale || !configured_pi_ki_scale) {
+ } else if (!s->configured_pi_kp_scale || !configured_pi_ki_scale) {
if (sw_ts) {
- configured_pi_kp_scale = SWTS_KP_SCALE;
+ s->configured_pi_kp_scale = SWTS_KP_SCALE;
configured_pi_ki_scale = SWTS_KI_SCALE;
} else {
- configured_pi_kp_scale = HWTS_KP_SCALE;
+ s->configured_pi_kp_scale = HWTS_KP_SCALE;
configured_pi_ki_scale = HWTS_KI_SCALE;
}
}
diff --git a/pi.h b/pi.h
index 9993ab2..d3e541e 100644
--- a/pi.h
+++ b/pi.h
@@ -22,14 +22,6 @@
#include "servo.h"
/**
- * 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.
- * kp = min(kp_scale * sync^kp_exponent, kp_norm_max / sync)
- */
-extern double configured_pi_kp_scale;
-
-/**
* This variable determines the exponent in the formula used to set the
* proportional constant of the PI controller from the sync interval.
* kp = min(kp_scale * sync^kp_exponent, kp_norm_max / sync)
diff --git a/ptp4l.c b/ptp4l.c
index 88f1180..b96bee3 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_scale = &configured_pi_kp_scale,
.pi_proportional_exponent = &configured_pi_kp_exponent,
.pi_proportional_norm_max = &configured_pi_kp_norm_max,
.pi_integral_scale = &configured_pi_ki_scale,
--
2.1.4
------------------------------------------------------------------------------
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