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Commit da37d310 authored by Alessandro Rubini's avatar Alessandro Rubini
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servo: use local variable for "offsetFromMaster" (no tech effect) 

This trivial change makes the code more readable, and more
symmetric in the two filtering sections.

Unrelated, it also moves a temporary variable to the only block where
it is used.
Signed-off-by: Alessandro Rubini's avatarAlessandro Rubini <rubini@gnudd.com>
parent fbc6ad2b
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Showing with 21 additions and 27 deletions
proto-standard/servo.c
View file @ da37d310
...@@ -55,8 +55,8 @@ void pp_servo_got_resp(struct pp_instance *ppi) ...@@ -55,8 +55,8 @@ void pp_servo_got_resp(struct pp_instance *ppi)
{ {
TimeInternal *m_to_s_dly = &SRV(ppi)->m_to_s_dly; TimeInternal *m_to_s_dly = &SRV(ppi)->m_to_s_dly;
TimeInternal *s_to_m_dly = &SRV(ppi)->s_to_m_dly; TimeInternal *s_to_m_dly = &SRV(ppi)->s_to_m_dly;
TimeInternal time_tmp;
TimeInternal *owd = &DSCUR(ppi)->oneWayDelay; TimeInternal *owd = &DSCUR(ppi)->oneWayDelay;
TimeInternal *ofm = &DSCUR(ppi)->offsetFromMaster;
struct pp_ofm_fltr *ofm_fltr = &SRV(ppi)->ofm_fltr; struct pp_ofm_fltr *ofm_fltr = &SRV(ppi)->ofm_fltr;
struct pp_owd_fltr *owd_fltr = &SRV(ppi)->owd_fltr; struct pp_owd_fltr *owd_fltr = &SRV(ppi)->owd_fltr;
Integer32 adj; Integer32 adj;
...@@ -150,51 +150,49 @@ void pp_servo_got_resp(struct pp_instance *ppi) ...@@ -150,51 +150,49 @@ void pp_servo_got_resp(struct pp_instance *ppi)
} }
/* update 'offsetFromMaster', (End to End mode) */ /* update 'offsetFromMaster', (End to End mode) */
sub_TimeInternal(&DSCUR(ppi)->offsetFromMaster, m_to_s_dly, owd); sub_TimeInternal(ofm, m_to_s_dly, owd);
if (DSCUR(ppi)->offsetFromMaster.seconds) { if (ofm->seconds) {
/* cannot filter with secs, clear filter */ /* cannot filter with secs, clear filter */
ofm_fltr->nsec_prev = 0; ofm_fltr->nsec_prev = 0;
goto adjust; goto adjust;
} }
/* filter 'offsetFromMaster' */ /* filter 'offsetFromMaster' */
ofm_fltr->y = DSCUR(ppi)->offsetFromMaster.nanoseconds / 2 + ofm_fltr->y = (ofm->nanoseconds + ofm_fltr->nsec_prev) / 2;
ofm_fltr->nsec_prev / 2; ofm_fltr->nsec_prev = ofm->nanoseconds;
ofm_fltr->nsec_prev = DSCUR(ppi)->offsetFromMaster.nanoseconds; ofm->nanoseconds = ofm_fltr->y;
DSCUR(ppi)->offsetFromMaster.nanoseconds = ofm_fltr->y;
if (OPTS(ppi)->max_rst) { /* If max_rst is 0 then it's OFF */ if (OPTS(ppi)->max_rst) { /* If max_rst is 0 then it's OFF */
if (DSCUR(ppi)->offsetFromMaster.seconds) { if (ofm->seconds) {
pp_diag(ppi, servo, 1, "%s aborted, offset greater " pp_diag(ppi, servo, 1, "%s aborted, offset greater "
"than 1 second\n", __func__); "than 1 second\n", __func__);
return; /* not good */ return; /* not good */
} }
if ((DSCUR(ppi)->offsetFromMaster.nanoseconds) > if (ofm->nanoseconds > OPTS(ppi)->max_rst) {
OPTS(ppi)->max_rst) {
pp_diag(ppi, servo, 1, "%s aborted, offset %d greater " pp_diag(ppi, servo, 1, "%s aborted, offset %d greater "
"than administratively set maximum %d\n", "than administratively set maximum %d\n",
__func__, __func__, ofm->nanoseconds,
(int)DSCUR(ppi)->offsetFromMaster.nanoseconds, OPTS(ppi)->max_rst);
(int)OPTS(ppi)->max_rst);
return; /* not good */ return; /* not good */
} }
} }
adjust: adjust:
if (DSCUR(ppi)->offsetFromMaster.seconds) { if (ofm->seconds) {
TimeInternal time_tmp;
/* if secs, reset clock or set freq adjustment to max */ /* if secs, reset clock or set freq adjustment to max */
if (!OPTS(ppi)->no_adjust) { if (!OPTS(ppi)->no_adjust) {
if (!OPTS(ppi)->no_rst_clk) { if (!OPTS(ppi)->no_rst_clk) {
/* FIXME: use adjust instead of set? */ /* FIXME: use adjust instead of set? */
ppi->t_ops->get(ppi, &time_tmp); ppi->t_ops->get(ppi, &time_tmp);
sub_TimeInternal(&time_tmp, &time_tmp, sub_TimeInternal(&time_tmp, &time_tmp, ofm);
&DSCUR(ppi)->offsetFromMaster);
ppi->t_ops->set(ppi, &time_tmp); ppi->t_ops->set(ppi, &time_tmp);
pp_servo_init(ppi); pp_servo_init(ppi);
} else { } else {
adj = DSCUR(ppi)->offsetFromMaster.nanoseconds adj = ofm->nanoseconds > 0
> 0 ? PP_ADJ_FREQ_MAX:-PP_ADJ_FREQ_MAX; ? PP_ADJ_FREQ_MAX : -PP_ADJ_FREQ_MAX;
if (ppi->t_ops->adjust_freq) if (ppi->t_ops->adjust_freq)
ppi->t_ops->adjust_freq(ppi, -adj); ppi->t_ops->adjust_freq(ppi, -adj);
...@@ -208,9 +206,7 @@ adjust: ...@@ -208,9 +206,7 @@ adjust:
/* the PI controller */ /* the PI controller */
/* the accumulator for the I component */ /* the accumulator for the I component */
SRV(ppi)->obs_drift += SRV(ppi)->obs_drift += ofm->nanoseconds / OPTS(ppi)->ai;
DSCUR(ppi)->offsetFromMaster.nanoseconds /
OPTS(ppi)->ai;
/* clamp the accumulator to PP_ADJ_FREQ_MAX for sanity */ /* clamp the accumulator to PP_ADJ_FREQ_MAX for sanity */
if (SRV(ppi)->obs_drift > PP_ADJ_FREQ_MAX) if (SRV(ppi)->obs_drift > PP_ADJ_FREQ_MAX)
...@@ -218,7 +214,7 @@ adjust: ...@@ -218,7 +214,7 @@ adjust:
else if (SRV(ppi)->obs_drift < -PP_ADJ_FREQ_MAX) else if (SRV(ppi)->obs_drift < -PP_ADJ_FREQ_MAX)
SRV(ppi)->obs_drift = -PP_ADJ_FREQ_MAX; SRV(ppi)->obs_drift = -PP_ADJ_FREQ_MAX;
adj = DSCUR(ppi)->offsetFromMaster.nanoseconds / OPTS(ppi)->ap + adj = ofm->nanoseconds / OPTS(ppi)->ap +
SRV(ppi)->obs_drift; SRV(ppi)->obs_drift;
/* apply controller output as a clock tick rate adjustment, if /* apply controller output as a clock tick rate adjustment, if
...@@ -230,10 +226,8 @@ adjust: ...@@ -230,10 +226,8 @@ adjust:
ppi->t_ops->adjust_offset(ppi, -adj); ppi->t_ops->adjust_offset(ppi, -adj);
} }
pp_diag(ppi, servo, 2, "One-way delay averaged: %s\n", pp_diag(ppi, servo, 2, "One-way delay averaged: %s\n", fmt_TI(owd));
fmt_TI(&DSCUR(ppi)->oneWayDelay)); pp_diag(ppi, servo, 2, "Offset from master: %s\n", fmt_TI(ofm));
pp_diag(ppi, servo, 2, "Offset from master: %s\n",
fmt_TI( &DSCUR(ppi)->offsetFromMaster));
pp_diag(ppi, servo, 2, "Observed drift: %9i\n", pp_diag(ppi, servo, 2, "Observed drift: %9i\n",
(int)SRV(ppi)->obs_drift); (int)SRV(ppi)->obs_drift);
} }
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