CAMLprim value
kern_gettimeofday(value v_unit)
{
struct timeval atv;
microtime(&atv);
return caml_copy_double(fixpt_add(fixpt_from_int(atv.tv_sec),
fixpt_div(fixpt_from_int(atv.tv_usec), 10000000 * fixpt_one)));
}
static void contrtemp_run(fixpt_t r)
{
fixpt_t dt, y, y_current;
uint8_t emergency_flags;
if (!contrtemp.enabled)
return;
if (contrtemp.emergency)
return;
/* Get delta-t that elapsed since last run, in seconds */
dt = fixpt_div(int_to_fixpt(timer_ms_since(&contrtemp.dt_timer)),
int_to_fixpt(1000));
timer_set_now(&contrtemp.dt_timer);
/* Run the PID controller */
y = pid_run(&contrtemp.pid, dt, r);
debug_report_fixpt(DEBUG_PFX1("ty1"), &contrtemp.old_temp_control1, y);
/* Map the requested temperature to a heater current. */
y_current = temp_to_amps(y);
emergency_flags = contrcurr_get_emerg();
if (r > float_to_fixpt(CONTRTEMP_POSLIM)) {
/* The measured temperature is higher than the maximum.
* We need to avoid damage.
* Disable current by requesting an emergency in
* the current controller.
*/
emergency_flags |= CONTRCURR_EMERG_HIGH_TEMP;
y_current = float_to_fixpt(CONTRCURR_NEGLIM);
} else {
emergency_flags &= (uint8_t)~CONTRCURR_EMERG_HIGH_TEMP;
}
contrcurr_set_emerg(emergency_flags);
debug_report_fixpt(DEBUG_PFX1("ty2"), &contrtemp.old_temp_control2,
y_current);
/* Set the current controller setpoint to the requested current. */
contrcurr_set_setpoint(y_current);
}
