Skip to content

P
PPSi
Switch branch/tag
History Find file
  • Pietro Fezzardi's avatar
    standard servo: store accumulator in scaled nsecs · 67258e3b
    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).
    67258e3b
Name
Last commit
 Last update
..
Makefile Loading commit data...
arith.c Loading commit data...
bmc.c Loading commit data...
common-fun.c Loading commit data...
common-fun.h Loading commit data...
fsm-table.c Loading commit data...
hooks.c Loading commit data...
msg.c Loading commit data...
open-close.c Loading commit data...
servo.c Loading commit data...
state-disabled.c Loading commit data...
state-faulty.c Loading commit data...
state-initializing.c Loading commit data...
state-listening.c Loading commit data...
state-master.c Loading commit data...
state-passive.c Loading commit data...
state-pre-master.c Loading commit data...
state-slave.c Loading commit data...
state-uncalibrated.c Loading commit data...
timeout.c Loading commit data...