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/**
* @file servo.c
* @note Copyright (C) 2011 Richard Cochran <richardcochran@gmail.com>
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
*/
#include <string.h>
#include <stdlib.h>
#include "config.h"
#include "linreg.h"
#include "ntpshm.h"
#include "nullf.h"
#include "pi.h"
#include "refclock_sock.h"
#include "servo_private.h"
#include "util.h"
#include "print.h"
struct servo *servo_create(struct config *cfg, enum servo_type type,
double fadj, int max_ppb, int sw_ts)
{
double servo_first_step_threshold;
double servo_step_threshold;
int servo_max_frequency;
struct servo *servo;
switch (type) {
case CLOCK_SERVO_PI:
servo = pi_servo_create(cfg, fadj, sw_ts);
break;
case CLOCK_SERVO_LINREG:
servo = linreg_servo_create(fadj);
break;
case CLOCK_SERVO_NTPSHM:
servo = ntpshm_servo_create(cfg);
break;
case CLOCK_SERVO_NULLF:
servo = nullf_servo_create();
break;
case CLOCK_SERVO_REFCLOCK_SOCK:
servo = refclock_sock_servo_create(cfg);
break;
default:
return NULL;
}
if (!servo)
return NULL;
servo_step_threshold = config_get_double(cfg, NULL, "step_threshold");
if (servo_step_threshold > 0.0) {
servo->step_threshold = servo_step_threshold * NSEC_PER_SEC;
} else {
servo->step_threshold = 0.0;
}
servo_first_step_threshold =
config_get_double(cfg, NULL, "first_step_threshold");
if (servo_first_step_threshold > 0.0) {
servo->first_step_threshold =
servo_first_step_threshold * NSEC_PER_SEC;
} else {
servo->first_step_threshold = 0.0;
}
servo_max_frequency = config_get_int(cfg, NULL, "max_frequency");
servo->max_frequency = max_ppb;
if (servo_max_frequency && servo->max_frequency > servo_max_frequency) {
servo->max_frequency = servo_max_frequency;
}
servo->first_update = 1;
servo->offset_threshold = config_get_int(cfg, NULL, "servo_offset_threshold");
servo->num_offset_values = config_get_int(cfg, NULL, "servo_num_offset_values");
servo->curr_offset_values = servo->num_offset_values;
return servo;
}
void servo_destroy(struct servo *servo)
{
servo->destroy(servo);
}
static int check_offset_threshold(struct servo *s, int64_t offset)
{
long long int abs_offset = llabs(offset);
if (s->offset_threshold) {
if (abs_offset < s->offset_threshold) {
if (s->curr_offset_values)
s->curr_offset_values--;
} else {
s->curr_offset_values = s->num_offset_values;
}
return s->curr_offset_values ? 0 : 1;
}
return 0;
}
double servo_sample(struct servo *servo,
int64_t offset,
uint64_t local_ts,
double weight,
enum servo_state *state)
{
double r;
r = servo->sample(servo, offset, local_ts, weight, state);
switch (*state) {
case SERVO_UNLOCKED:
servo->curr_offset_values = servo->num_offset_values;
break;
case SERVO_JUMP:
servo->curr_offset_values = servo->num_offset_values;
servo->first_update = 0;
break;
case SERVO_LOCKED:
if (check_offset_threshold(servo, offset)) {
*state = SERVO_LOCKED_STABLE;
}
servo->first_update = 0;
break;
case SERVO_LOCKED_STABLE:
/*
* This case will never occur since the only place
* SERVO_LOCKED_STABLE is set is in this switch/case block
* (case SERVO_LOCKED).
*/
break;
}
return r;
}
void servo_sync_interval(struct servo *servo, double interval)
{
servo->sync_interval(servo, interval);
}
void servo_reset(struct servo *servo)
{
servo->reset(servo);
}
double servo_rate_ratio(struct servo *servo)
{
if (servo->rate_ratio)
return servo->rate_ratio(servo);
return 1.0;
}
void servo_leap(struct servo *servo, int leap)
{
if (servo->leap)
servo->leap(servo, leap);
}
int servo_offset_threshold(struct servo *servo)
{
return servo->offset_threshold;
}
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