From fa0adf1e28bf9b6ee03c04234bceed20ac4bced2 Mon Sep 17 00:00:00 2001
From: Jeroen Vreeken <jeroen@vreeken.net>
Date: Mon, 1 Dec 2014 22:07:16 +0100
Subject: [PATCH] Add test network for pid_aw block Cleanup libs Add lib
dependancies for console_httpd. Add inf as double constant.
---
Makefile | 3 +
common/command/build.mk | 2 +-
common/log/build.mk | 2 +-
common/trace/build.mk | 2 +-
common/utils/build.mk | 2 +-
console/console/build.mk | 7 ++-
controller/block/block_pid_aw.c | 11 ++--
controller/block/block_pid_aw.test.ctrl | 58 +++++++++++++++++++
controller/block/build.mk | 1 +
.../controller/controller_load_parser.l | 1 +
.../controller/controller_load_parser.y | 3 +
controller/controller/controller_sample.c | 2 +-
12 files changed, 81 insertions(+), 13 deletions(-)
create mode 100644 controller/block/block_pid_aw.test.ctrl
diff --git a/Makefile b/Makefile
index d74da47..5438e2d 100644
--- a/Makefile
+++ b/Makefile
@@ -32,12 +32,14 @@ help:
echo "golden repository (on eris.camras.nl)."
+libnova/libnova.h: lib/libnova.la
libnova.la: lib/libnova.la
lib/libnova.la:
cd libnova-0.13.0 ; ./configure -enable-static -disable-shared --prefix=${CURDIR} $(CONF_HOST); make; make install
clean: subdirs_CLEAN
rm -rf lib/*
+ rm -rf include/libnova
cd libnova-0.13.0 ; make clean || true
# Rules for building a release
@@ -131,6 +133,7 @@ endef
CFLAGS := -pthread -Icommon -Icommon/include -Icontroller -Iconsole/console -Iinclude
LDFLAGS := -pthread -Lcommon/lib -Lcontroller/lib -Lconsole/console/lib -Llib -Wl,--as-needed
VPATH += common/lib controller/lib console/console/lib lib
+VPATH += include
TARGETS:=
diff --git a/common/command/build.mk b/common/command/build.mk
index 0a8f3e6..88fcc9f 100644
--- a/common/command/build.mk
+++ b/common/command/build.mk
@@ -23,4 +23,4 @@ $(DIR)/command_list: $(COMMAND_LIST_OBJS)
SRCS += $(ARCHSRCS) $(COMMAND_LIST_SRCS)
TARGETS += $(COMMAND_TARGETS)
-CLEAN += $(COMMAND_TARGETS) $(ARCHOBJS) $(COMMAND_LIST_OBJS)
+CLEAN += $(COMMAND_TARGETS) $(ARCHOBJS) $(COMMAND_LIST_OBJS) $(LIBDIR)/libcommand.a
diff --git a/common/log/build.mk b/common/log/build.mk
index f3c75fa..0fa627d 100644
--- a/common/log/build.mk
+++ b/common/log/build.mk
@@ -12,4 +12,4 @@ $(LIBDIR)/liblog.la_LDFLAGS += -lutils
$(LIBDIR)/liblog.la: $(ARCHOBJS)
$(LIB_LINK)
-CLEAN += $(TARGETS) $(ARCHOBJS)
+CLEAN += $(TARGETS) $(ARCHOBJS) $(LIBDIR)/liblog.a
diff --git a/common/trace/build.mk b/common/trace/build.mk
index 19fb9cf..82ccb8e 100644
--- a/common/trace/build.mk
+++ b/common/trace/build.mk
@@ -53,7 +53,7 @@ SRCS += $(TRACE_DUMPDIFF_SRCS)
SRCS += $(TRACE_FFT_SRCS)
SRCS += $(TRACE_LIST_SRCS)
SRCS += $(TRACE_VIEW_SRCS)
-CLEAN += $(TRACE_TARGETS) $(ARCHOBJS)
+CLEAN += $(TRACE_TARGETS) $(ARCHOBJS) $(LIBDIR)/libtrace.a
CLEAN += $(TRACE_DUMP_OBJS)
CLEAN += $(TRACE_DUMPDIFF_OBJS)
CLEAN += $(TRACE_FFT_OBJS)
diff --git a/common/utils/build.mk b/common/utils/build.mk
index e4ebcd6..bb13112 100644
--- a/common/utils/build.mk
+++ b/common/utils/build.mk
@@ -36,6 +36,6 @@ $(LIBDIR)/libutils.la: $(ARCHOBJS)
CLEAN += $(LIBDIR)/libutils.la
CLEAN += $(DIR)/weather_test
-CLEAN += $(WEATHER_OBJS) $(ARCHOBJS)
+CLEAN += $(WEATHER_OBJS) $(ARCHOBJS) $(LIBDIR)/libutils.a
SRCS += $(ARCHSRCS) $(WEATHER_SRCS)
diff --git a/console/console/build.mk b/console/console/build.mk
index 503056e..02c2e24 100644
--- a/console/console/build.mk
+++ b/console/console/build.mk
@@ -51,24 +51,28 @@ $(DIR)/command_shell: $(DIR)/command_shell.o
CONSOLE_SRCS += $(DIR)/command_shell.c
$(DIR)/console_moontracker.o: CFLAGS += -Wall -O3
+$(DIR)/console_moontracker.o: libnova/libnova.h
$(DIR)/console_moontracker_LDFLAGS += -lcommand -lm -laa
$(DIR)/console_moontracker: libcommand.la libaa.la
$(DIR)/console_moontracker: $(DIR)/console_moontracker.o
CONSOLE_SRCS += $(DIR)/console_moontracker.c
$(DIR)/console_j2000tracker.o: CFLAGS += -Wall -O3
+$(DIR)/console_j2000tracker.o: libnova/libnova.h
$(DIR)/console_j2000tracker_LDFLAGS += -lcommand -lm -lnova -ltrace
$(DIR)/console_j2000tracker: libcommand.la libtrace.la libnova.la
$(DIR)/console_j2000tracker: $(DIR)/console_j2000tracker.o
CONSOLE_SRCS += $(DIR)/console_j2000tracker.c
$(DIR)/console_j2000tracer.o: CFLAGS += -Wall -O3
+$(DIR)/console_j2000tracesr.o: libnova/libnova.h
$(DIR)/console_j2000tracer_LDFLAGS += -lm -lnova -lutils
$(DIR)/console_j2000tracer: libutils.la libnova.la
$(DIR)/console_j2000tracer: $(DIR)/console_j2000tracer.o
CONSOLE_SRCS += $(DIR)/console_j2000tracer.c
$(DIR)/console_j2000_indi.o: CFLAGS += -Wall -O3
+$(DIR)/console_j2000_indi.o: libnova/libnova.h
$(DIR)/console_j2000_indi_LDFLAGS += -lm -lindi -lindidriver -lnova -lutils
$(DIR)/console_j2000_indi: libutils.la libnova.la
$(DIR)/console_j2000_indi: $(DIR)/console_j2000_indi.o
@@ -135,6 +139,7 @@ $(DIR)/spg_auth: $(DIR)/spg_auth.o
CONSOLE_SRCS += $(DIR)/spg_auth.c
$(DIR)/console_sattracker.o: CFLAGS += -Wall -O3
+$(DIR)/console_sattracker.o: libnova/libnova.h
$(DIR)/console_sattracker_LDFLAGS += -lcommand -lnova -lpredict
$(DIR)/console_sattracker: libcommand.la libpredict.la libnova.la
$(DIR)/console_sattracker: $(DIR)/console_sattracker.o
@@ -142,7 +147,7 @@ CONSOLE_SRCS += $(DIR)/console_sattracker.c
$(DIR)/console_httpd.o: CFLAGS += -Wall -O0 -g
$(DIR)/console_httpd_LDFLAGS += -llog -ltrace -lcommand -lwebsockets -lmagic
-$(DIR)/console_httpd: liblog.la
+$(DIR)/console_httpd: liblog.la libtrace.la libcommand.la
$(DIR)/console_httpd: $(DIR)/console_httpd.o
CONSOLE_SRCS += $(DIR)/console_httpd.c
diff --git a/controller/block/block_pid_aw.c b/controller/block/block_pid_aw.c
index 28ef18f..8545c6b 100644
--- a/controller/block/block_pid_aw.c
+++ b/controller/block/block_pid_aw.c
@@ -22,6 +22,7 @@
#include <string.h>
#include <controller/controller_block.h>
+#include <controller/controller_sample.h>
/*
inputs outputs
@@ -72,7 +73,6 @@ struct controller_block_private {
float kp; /* K factors */
float ki;
float kd;
- float t; /* sample period */
float ci; /* Factors used in calculate (K * T) */
float cd;
float previous;
@@ -115,7 +115,7 @@ static struct controller_block_param_list params[] = {
{ "kp", true },
{ "ki", true },
{ "kd", true },
- { "t", true },
+ { "t", true }, /* deprecated */
{ "maxw", false },
{ "minw", false },
{ "reset", true },
@@ -135,7 +135,6 @@ static void param_get(struct controller_block *pid, int param, void *val)
*(float*)val = pid->private->kd;
break;
case 3:
- *(float*)val = pid->private->t;
break;
case 4:
*(float*)val = pid->private->maxi;
@@ -161,7 +160,6 @@ static void param_set(struct controller_block *pid, int param, va_list val)
pid->private->kd = va_arg(val, double);
break;
case 3:
- pid->private->t = va_arg(val, double);
break;
case 4:
pid->private->maxi = va_arg(val, double);
@@ -177,8 +175,8 @@ static void param_set(struct controller_block *pid, int param, va_list val)
pid->private->out = 0.0;
break;
}
- pid->private->ci = pid->private->ki * pid->private->t;
- pid->private->cd = pid->private->kd / pid->private->t;
+ pid->private->ci = pid->private->ki * controller_sample_period();
+ pid->private->cd = pid->private->kd / controller_sample_period();
}
@@ -210,7 +208,6 @@ struct controller_block * block_pid_aw_create(char *name)
pid->private->kp = 0.0;
pid->private->ki = 0.0;
pid->private->kd = 0.0;
- pid->private->t = 1.0;
pid->private->ci = 0.0;
pid->private->cd = 0.0;
pid->private->maxi = 0.0;
diff --git a/controller/block/block_pid_aw.test.ctrl b/controller/block/block_pid_aw.test.ctrl
new file mode 100644
index 0000000..7d233ae
--- /dev/null
+++ b/controller/block/block_pid_aw.test.ctrl
@@ -0,0 +1,58 @@
+frequency 100
+
+blocks {
+ { "pid_aw", "pid" }
+
+ { "test_input_float", "in" }
+ { "test_input_bool", "enable" }
+
+ { "test_output_float", "out" }
+ { "test_output_float", "outp" }
+ { "test_output_float", "outi" }
+ { "test_output_float", "outd" }
+}
+
+links {
+ { "in", "value", "pid", "in", true }
+ { "enable", "value", "pid", "enable", true }
+ { "pid", "out", "out", "value", true }
+ { "pid", "outp", "outp", "value", true }
+ { "pid", "outi", "outi", "value", true }
+ { "pid", "outd", "outd", "value", true }
+}
+
+params {
+ { "pid", "kp", (float) 10.0 }
+ { "pid", "ki", (float) 2.0 }
+ { "pid", "kd", (float) 0.5 }
+ { "pid", "maxw", (float) 3.0 }
+ { "pid", "minw", (float) -0.01 }
+
+ { "enable", "value", 10,
+ (int) { false, true, true, true, true, true, true, true, true, false }
+ }
+
+ { "in", "value", 10,
+ (float) { 0.0, 1.0, -1.0, -1.0, 10.0, 10.0, 100.0, 100.0, 10.0, 10.0 }
+ }
+
+ { "out", "value", 10,
+ (float) { 0.0, 60.02, -10.0, -10.0, 100.0, 100.0, 1000.0, 1000.0, 100.0, 0.0},
+ (float) { 0.0, 0.0, inf, inf, inf, inf, inf, inf, inf, 0.0}
+ }
+
+ { "outp", "value", 10,
+ (float) { 0.0, 10.0, -10.0, -10.0, 100.0, 100.0, 1000.0, 1000.0, 100.0, 0.0},
+ (float) { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0}
+ }
+
+ { "outi", "value", 10,
+ (float) { 0.0, 0.02, 0.0, -0.01, 0.19, 0.39, 2.39, 3.0, 3.0, 0.0},
+ (float) { 0.0, 0.0, 0.0, 0.0, 1e-6, 1e-6, 1e-6, 0.0, 0.0, 0.0}
+ }
+
+ { "outd", "value", 10,
+ (float) { 0.0, 50.0, -100.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
+ (float) { 0.0, 0.0, 0.0, 0.0, inf, inf, inf, inf, inf, 0.0}
+ }
+}
diff --git a/controller/block/build.mk b/controller/block/build.mk
index 6ef548b..df912e8 100644
--- a/controller/block/build.mk
+++ b/controller/block/build.mk
@@ -83,6 +83,7 @@ CTRL_TESTS += \
$(DIR)/block_limit.test.ctrl \
$(DIR)/block_matrix_2x2.test.ctrl \
$(DIR)/block_not.test.ctrl \
+ $(DIR)/block_pid_aw.test.ctrl \
$(DIR)/block_rangecheck.test.ctrl \
$(DIR)/block_setpoint_generator_1d.test.ctrl \
$(DIR)/block_setpoint_generator_3d.test.ctrl \
diff --git a/controller/controller/controller_load_parser.l b/controller/controller/controller_load_parser.l
index b51eb6d..fdbd797 100644
--- a/controller/controller/controller_load_parser.l
+++ b/controller/controller/controller_load_parser.l
@@ -90,6 +90,7 @@ boolcast "("[ \t]*"bool"[ \t]*")"
"deg2rad" { return FUNC_DEG2RAD_SYM; }
"rpm2rads" { return FUNC_RPM2RADS_SYM; }
"pi" { return CONST_PI_SYM; }
+"inf" { return CONST_INF_SYM; }
{floatcast} { return FLOATCASTSYM; }
{doublecast} { return DOUBLECASTSYM; }
diff --git a/controller/controller/controller_load_parser.y b/controller/controller/controller_load_parser.y
index c8d67c4..9206099 100644
--- a/controller/controller/controller_load_parser.y
+++ b/controller/controller/controller_load_parser.y
@@ -72,6 +72,7 @@ void yyerror(yyscan_t *scanner, char const *s);
%token FUNC_RPM2RADS_SYM
%token <dbl> CONST_PI_SYM
+%token <dbl> CONST_INF_SYM
%left DUMMY_DOUBLEVAR
%left DUMMY_INTVAR
@@ -254,6 +255,8 @@ doublevar: DOUBLEVARIABLESYM
{ $$ = $1; }
| CONST_PI_SYM
{ $$ = M_PI; }
+ | CONST_INF_SYM
+ { $$ = INFINITY; }
| MINSYM doublevar %prec UMINUS
{ $$ = - $2; }
;
diff --git a/controller/controller/controller_sample.c b/controller/controller/controller_sample.c
index e2c05a6..8ea67b3 100644
--- a/controller/controller/controller_sample.c
+++ b/controller/controller/controller_sample.c
@@ -303,7 +303,7 @@ static void *sample_thread(void *arg)
uint64_t t_start;
uint64_t t_io;
uint64_t t_end;
- param.sched_priority = 99;
+ param.sched_priority = 90;
sigset_t sigset;
struct sigaction sigact;
--
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