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hwclock: refactor processing of PHC readings

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Move processing of PHC readings from sys_linux to hwclock, where
statistics can be collected and filtering improved.

In the PHC refclock driver accumulate the samples even if not in the
external timestamping mode to update the context which will be needed
for improved filtering.
This commit is contained in:
Miroslav Lichvar
2022-06-07 15:03:14 +02:00
parent c23c0b8484
commit 09b7f77f9a
7 changed files with 141 additions and 107 deletions
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28
refclock_phc.c
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@@ -75,13 +75,15 @@ static int phc_initialise(RCL_Instance instance)
phc->nocrossts = RCL_GetDriverOption(instance, "nocrossts") ? 1 : 0;
phc->extpps = RCL_GetDriverOption(instance, "extpps") ? 1 : 0;
phc->clock = HCL_CreateInstance(0, 16, UTI_Log2ToDouble(RCL_GetDriverPoll(instance)),
RCL_GetPrecision(instance));
if (phc->extpps) {
s = RCL_GetDriverOption(instance, "pin");
phc->pin = s ? atoi(s) : 0;
s = RCL_GetDriverOption(instance, "channel");
phc->channel = s ? atoi(s) : 0;
rising_edge = RCL_GetDriverOption(instance, "clear") ? 0 : 1;
phc->clock = HCL_CreateInstance(0, 16, UTI_Log2ToDouble(RCL_GetDriverPoll(instance)));
if (!SYS_Linux_SetPHCExtTimestamping(phc->fd, phc->pin, phc->channel,
rising_edge, !rising_edge, 1))
@@ -90,7 +92,6 @@ static int phc_initialise(RCL_Instance instance)
SCH_AddFileHandler(phc->fd, SCH_FILE_INPUT, read_ext_pulse, instance);
} else {
phc->pin = phc->channel = 0;
phc->clock = NULL;
}
RCL_SetDriverData(instance, phc);
@@ -106,9 +107,9 @@ static void phc_finalise(RCL_Instance instance)
if (phc->extpps) {
SCH_RemoveFileHandler(phc->fd);
SYS_Linux_SetPHCExtTimestamping(phc->fd, phc->pin, phc->channel, 0, 0, 0);
HCL_DestroyInstance(phc->clock);
}
HCL_DestroyInstance(phc->clock);
close(phc->fd);
Free(phc);
}
@@ -139,23 +140,30 @@ static void read_ext_pulse(int fd, int event, void *anything)
UTI_DiffTimespecsToDouble(&phc_ts, &local_ts));
}
#define PHC_READINGS 25
static int phc_poll(RCL_Instance instance)
{
struct timespec phc_ts, sys_ts, local_ts, readings[PHC_READINGS][3];
struct phc_instance *phc;
struct timespec phc_ts, sys_ts, local_ts;
double phc_err, local_err;
int n_readings;
phc = (struct phc_instance *)RCL_GetDriverData(instance);
if (!SYS_Linux_GetPHCSample(phc->fd, phc->nocrossts, RCL_GetPrecision(instance),
&phc->mode, &phc_ts, &sys_ts, &phc_err))
n_readings = SYS_Linux_GetPHCReadings(phc->fd, phc->nocrossts, &phc->mode,
PHC_READINGS, readings);
if (n_readings < 1)
return 0;
if (phc->extpps) {
LCL_CookTime(&sys_ts, &local_ts, &local_err);
HCL_AccumulateSample(phc->clock, &phc_ts, &local_ts, phc_err + local_err);
if (!HCL_ProcessReadings(phc->clock, n_readings, readings, &phc_ts, &sys_ts, &phc_err))
return 0;
LCL_CookTime(&sys_ts, &local_ts, &local_err);
HCL_AccumulateSample(phc->clock, &phc_ts, &local_ts, phc_err + local_err);
if (phc->extpps)
return 0;
}
DEBUG_LOG("PHC offset: %+.9f err: %.9f",
UTI_DiffTimespecsToDouble(&phc_ts, &sys_ts), phc_err);