Improve limit of i2t when some budget is already taken...

controller/block/block_i2t.c

@@ -67,7 +67,7 @@ static void i2t_calculate(struct controller_block *block)
 	if (i2t >= peak2t)
 		priv->Ilim = priv->continuous;
 	else
-		priv->Ilim = priv->peaklim;
+		priv->Ilim = sqrtf(peak2t - i2t + continuous2);
 	
 	priv->i2t = i2t;
 }
@@ -75,10 +75,9 @@ static void i2t_calculate(struct controller_block *block)
 static void set_peak2t(struct controller_block *i2t)
 {
 	struct controller_block_private *priv = i2t->private;
-	double tick = controller_time_period_get(i2t->time);
 
-	priv->peak2t = (priv->peak * priv->peak - priv->continuous2) * priv->duration / tick;
-	priv->peaklim = priv->peak / tick;
+	priv->peak2t = (priv->peak * priv->peak - priv->continuous2) * priv->duration;
+	priv->peaklim = priv->peak * priv->duration;
 }
 
 static int param_set_peak(struct controller_block *i2t, char *param, int argc,
@@ -96,8 +95,9 @@ static int param_set_duration(struct controller_block *i2t, char *param, int arg
     va_list val)
 {
 	struct controller_block_private *priv = i2t->private;
+	double tick = controller_time_period_get(i2t->time);
 	
-	priv->duration = va_arg(val, double);
+	priv->duration = va_arg(val, double) / tick;
 	set_peak2t(i2t);
 	
 	return 0;

controller/block/block_i2t.test.ctrl

@@ -39,14 +39,14 @@ params {
 	}
 	{ "test_1_Ilim", "value", 30, 
 		(float) {
-		    30.0, 30.0, 30.0, 30.0, 30.0, 30.0, 30.0, 30.0, 30.0, 30.0,
-		    30.0, 30.0, 30.0, 30.0, 30.0, 30.0, 30.0, 30.0, 30.0, 10.0,
-		    10.0, 10.0, 10.0, 10.0, 10.0, 30.0, 30.0, 30.0, 30.0, 30.0
+		    90.0, 90.0, 90.0, 90.0, 90.0, 90.0, 90.0, 90.0, 90.0, 90.0,
+		    85.0, 81.0, 75.0, 70.0, 64.0, 57.0, 50.0, 41.0, 30.0, 10.0,
+		    10.0, 10.0, 10.0, 10.0, 10.0, 12.0, 13.0, 16.0, 19.0, 22.0
 		},
 		(float) {
 	   	    0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
-		    0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
-		    0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0
+		    1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.0, 0.0,
+		    0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0
 		}
 	}
 	{ "test_10_I",  "value", 30, (float) { 
@@ -56,14 +56,14 @@ params {
 	}
 	{ "test_10_Ilim", "value", 30, 
 		(float) {
-		    300.0, 300.0, 300.0, 300.0, 300.0, 300.0, 300.0, 300.0, 300.0, 300.0,
-		    300.0, 300.0, 300.0, 300.0, 300.0, 300.0, 300.0, 300.0, 300.0, 300.0,
-		    10.0, 10.0, 10.0, 10.0, 10.0, 300.0, 300.0, 300.0, 300.0, 300.0 
+		    283.0, 283.0, 283.0, 283.0, 283.0, 283.0, 283.0, 283.0, 283.0, 283.0,
+		    281.0, 267.0, 252.0, 235.0, 217.0, 198.0, 177.0, 153.0, 124.0, 85.0,
+		    10.0, 10.0, 10.0, 10.0, 10.0, 12.0, 22.0, 30.0, 44.0, 54.0 
 		},
 		(float) {
-	   	    0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
-		    0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
-		    0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0
+	   	    1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0,
+		    1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0,
+		    0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0
 		}
 	}
 }