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Pietro Fezzardi authored
The integral accumulator of the PI servo is now a 64bit integer. The stored values are bit shifted by 10, so we have a finer granularity on the control. With the previous implementation the integral part stopped working when ofm was under the value of OPTS(ppi)->ai. This problem has been solved with this changes. I had to use __div64_32() from lib/div64.c, because dividing for a long long is not allowed in arch-wrpc (it takes too much RAM).
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constants.h | ||
diag-macros.h | ||
ieee1588_types.h | ||
jiffies.h | ||
lib.h | ||
pp-instance.h | ||
ppsi.h |