Commit e1199f99 authored by Jeroen Vreeken's avatar Jeroen Vreeken
Browse files

Small improvements in sine block

Removal off old stuff from simulator
Make our clock explicit instead of magic number.
parent d0273cc4
......@@ -54,6 +54,8 @@ static void sine_calculate(struct controller_block *sine)
float current = priv->current;
current += priv->step;
if (current > M_PI * 2)
current -= M_PI * 2;
priv->value = sinf(current);
priv->current = current;
......
......@@ -157,7 +157,7 @@ static void *sample_thread(void *arg)
}
#ifndef __FreeBSD__
clock = 0;
clock = CLOCK_REALTIME;
#else
clock = CLOCK_MONOTONIC_PRECISE;
pthread_condattr_init(&attr);
......@@ -189,7 +189,7 @@ static void *sample_thread(void *arg)
/* Wait for the right moment...
(Internal timer or external interrupt) */
#ifndef __FreeBSD__
clock_nanosleep(0, TIMER_ABSTIME, &t, NULL);
clock_nanosleep(clock, TIMER_ABSTIME, &t, NULL);
#else
pthread_cond_timedwait(&cv, &lock, &t);
#endif
......
......@@ -4,11 +4,6 @@ blocks {
{ "subtract", "dt_az_speed_fb" }
{ "pid", "dt_az_driver" }
{ "limit_dyn", "dt_az_torque_limit" }
{ "random", "dt_az_torque_noise_rnd" }
{ "gain", "dt_az_torque_noise_gain" }
{ "value", "dt_az_torque_noise_0" }
{ "sine", "dt_az_torque_noise_sine" }
{ "add", "dt_az_torque_noise_add" }
{ "friction", "dt_az_friction" }
{ "pid", "dt_az_accelerate" }
{ "pid", "dt_az_speed2pos" }
......@@ -31,10 +26,7 @@ links {
{ "dt_az_speed_quantize", "out", "dt_az_speed_fb", "positive", true }
{ "dt_az_speed_fb", "difference", "dt_az_driver", "in", true }
{ "dt_az_driver", "out", "dt_az_torque_limit", "in", true }
{ "dt_az_torque_limit", "out", "dt_az_torque_noise_add", "in0", true }
{ "dt_az_torque_noise_0", "value", "dt_az_torque_noise_gain", "in", true }
{ "dt_az_torque_noise_gain", "out", "dt_az_torque_noise_add", "in1", true }
{ "dt_az_torque_noise_add", "out", "dt_az_friction", "in", true }
{ "dt_az_torque_limit", "out", "dt_az_friction", "in", true }
{ "dt_az_friction", "out", "dt_az_accelerate", "in", true }
{ "dt_az_accelerate", "out", "dt_az_speed2pos", "in", true }
{ "dt_az_accelerate", "out", "dt_az_speed_fb", "negative", false }
......@@ -70,9 +62,6 @@ params {
{ "dt_az_speed2pos", "kd", (float)0.0 }
{ "dt_az_speed2pos", "t", (float)0.004 }
{ "dt_az_pos_quantize", "quantum", (float)2.0 * pi / 16384.0 }
{ "dt_az_torque_noise_gain", "gain", (float)0.0 }
{ "dt_az_torque_noise_0", "value", (float)0.0 }
{ "dt_az_torque_noise_sine", "f", (float)0.0 }
{ "dt_az_focusbox", "value", (float)5.0 }
{ "dt_az_offset", "value", (float)-21730.3997815 }
{ "dt_az_bex", "value", (int)0 }
......
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