Skip to content

P
PPSi
Commit 4741d553 authored by Alessandro Rubini's avatar Alessandro Rubini
Browse files
Options

servo: minor changes (negligible technical effect) 

This commit is another step in simplifying the servo. It makes the following
changes:

- format_TimeInternal is just moved (no effect)

- pp_update_offset() and __pp_update_clock() are squashed together.

They were called in sequence anyways, as two halves of a single thing.
This changes the error return paths, because the whole procedure is
aborted in case of error.  I've never seen such errors, but I think if
something is "aborted" it should not proceed.

One non-error return from the first half is turned into a goto, to avoid
changing indentation (that appears in the commit diff).

- the meaning of "ofst_first_updated" is slightly changed.

If we get an error in the sync phase the bit is cleared so delay-resp
won't use the tuple.  The field is then renamed in the next commit.
Signed-off-by: Alessandro Rubini's avatarAlessandro Rubini <rubini@gnudd.com>
parent 227f1b30
Hide whitespace changes
Inline Side-by-side
Showing with 37 additions and 44 deletions
proto-standard/servo.c
View file @ 4741d553
......@@ -24,15 +24,28 @@ void pp_servo_init(struct pp_instance *ppi)
ppi->t_ops->adjust(ppi, 0, 0);
}
/* internal helper */
static void format_TimeInternal(char *s, TimeInternal *t)
{
pp_sprintf(s, "%s%d.%09d",
(t->seconds < 0 || (t->seconds == 0 && t->nanoseconds < 0))
? "-" : " ",
(int)abs(t->seconds), (int)abs(t->nanoseconds));
}
/*
* Called by slave and uncalib. (pp_servo_got_sync, below in this file).
* Please note that it only uses t1 and t2, so I think it needs review - ARub
* Actual body of pp_servo_got_sync: the outer function prints logs
* so we can return in different places.
* Called by slave and uncalib when we have t1 and t2
*/
static void pp_update_offset(struct pp_instance *ppi,
TimeInternal *correction_field)
static int __pp_servo_got_sync(struct pp_instance *ppi)
{
TimeInternal *correction_field = &ppi->cField;
TimeInternal m_to_s_dly;
TimeInternal time_tmp;
struct pp_ofm_fltr *ofm_fltr = &SRV(ppi)->ofm_fltr;
Integer32 adj;
/* calc 'master_to_slave_delay' */
sub_TimeInternal(&m_to_s_dly, &ppi->t2, &ppi->t1);
......@@ -41,7 +54,7 @@ static void pp_update_offset(struct pp_instance *ppi,
if (m_to_s_dly.seconds) {
pp_diag(ppi, servo, 1, "%s aborted, delay greater "
"than 1 second\n", __func__);
return;
return -1;
}
if (m_to_s_dly.nanoseconds > OPTS(ppi)->max_dly) {
pp_diag(ppi, servo, 1, "%s aborted, delay %d greater "
......@@ -49,14 +62,13 @@ static void pp_update_offset(struct pp_instance *ppi,
__func__,
(int)m_to_s_dly.nanoseconds,
(int)OPTS(ppi)->max_dly);
return;
return -1;
}
}
SRV(ppi)->m_to_s_dly = m_to_s_dly;
sub_TimeInternal(&SRV(ppi)->delay_ms, &ppi->t2, &ppi->t1);
/* Used just for End to End mode. */
/* Take care about correctionField */
sub_TimeInternal(&SRV(ppi)->m_to_s_dly,
......@@ -70,7 +82,7 @@ static void pp_update_offset(struct pp_instance *ppi,
if (DSCUR(ppi)->offsetFromMaster.seconds) {
/* cannot filter with secs, clear filter */
ofm_fltr->nsec_prev = 0;
return;
goto adjust;
}
/* filter 'offsetFromMaster' */
ofm_fltr->y = DSCUR(ppi)->offsetFromMaster.nanoseconds / 2 +
......@@ -78,23 +90,11 @@ static void pp_update_offset(struct pp_instance *ppi,
ofm_fltr->nsec_prev = DSCUR(ppi)->offsetFromMaster.nanoseconds;
DSCUR(ppi)->offsetFromMaster.nanoseconds = ofm_fltr->y;
/* Offset must have been computed at least one time before
* computing end to end delay */
if (!OPTS(ppi)->ofst_first_updated)
OPTS(ppi)->ofst_first_updated = 1;
}
/* This internal code is used to avoid "goto display" and always have diags */
static void __pp_update_clock(struct pp_instance *ppi)
{
Integer32 adj;
TimeInternal time_tmp;
if (OPTS(ppi)->max_rst) { /* If max_rst is 0 then it's OFF */
if (DSCUR(ppi)->offsetFromMaster.seconds) {
pp_diag(ppi, servo, 1, "%s aborted, offset greater "
"than 1 second\n", __func__);
return;
return -1;
}
if ((DSCUR(ppi)->offsetFromMaster.nanoseconds) >
......@@ -104,10 +104,11 @@ static void __pp_update_clock(struct pp_instance *ppi)
__func__,
(int)DSCUR(ppi)->offsetFromMaster.nanoseconds,
(int)OPTS(ppi)->max_rst);
return;
return -1;
}
}
adjust:
if (DSCUR(ppi)->offsetFromMaster.seconds) {
/* if secs, reset clock or set freq adjustment to max */
if (!OPTS(ppi)->no_adjust) {
......@@ -128,7 +129,7 @@ static void __pp_update_clock(struct pp_instance *ppi)
ppi->t_ops->adjust_offset(ppi, -adj);
}
}
return;
return 0;
}
/* the PI controller */
......@@ -155,24 +156,22 @@ static void __pp_update_clock(struct pp_instance *ppi)
else
ppi->t_ops->adjust_offset(ppi, -adj);
}
return 0;
}
static void format_TimeInternal(char *s, TimeInternal *t)
{
pp_sprintf(s, "%s%d.%09d",
(t->seconds < 0 || (t->seconds == 0 && t->nanoseconds < 0))
? "-" : " ",
(int)abs(t->seconds), (int)abs(t->nanoseconds));
}
/* called only *exactly* after calling pp_update_offset above */
static void pp_update_clock(struct pp_instance *ppi)
/* Called by slave and uncalib when we have t1 and t2 */
void pp_servo_got_sync(struct pp_instance *ppi)
{
char s[24];
__pp_update_clock(ppi);
if (__pp_servo_got_sync(ppi)) { /* error: message already reported */
OPTS(ppi)->ofst_first_updated = 0;
return;
}
OPTS(ppi)->ofst_first_updated = 1;
/* Ok: print data */
format_TimeInternal(s, &SRV(ppi)->m_to_s_dly);
pp_diag(ppi, servo, 2, "Raw offset from master: %s\n", s);
format_TimeInternal(s, &DSCUR(ppi)->meanPathDelay);
......@@ -183,12 +182,6 @@ static void pp_update_clock(struct pp_instance *ppi)
(int)SRV(ppi)->obs_drift);
}
void pp_servo_got_sync(struct pp_instance *ppi)
{
pp_update_offset(ppi, &ppi->cField);
pp_update_clock(ppi);
}
/* called by slave states when delay_resp is received (all t1..t4 are valid) */
static void pp_update_delay(struct pp_instance *ppi,
......@@ -199,6 +192,9 @@ static void pp_update_delay(struct pp_instance *ppi,
struct pp_owd_fltr *owd_fltr = &SRV(ppi)->owd_fltr;
int s;
if (!OPTS(ppi)->ofst_first_updated)
return;
/* calc 'slave to master' delay */
sub_TimeInternal(&s_to_m_dly, &ppi->t4, &ppi->t3);
......@@ -219,9 +215,6 @@ static void pp_update_delay(struct pp_instance *ppi,
return;
}
if (!OPTS(ppi)->ofst_first_updated)
return;
/* calc 'slave to_master' delay (master to slave delay is
* already computed in pp_update_offset)
*/
......
Markdown is supported
0% or
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment