/*
 * pid.c PID controller for testing cooling devices
 *
 *
 *
 * Copyright (C) 2012 Intel Corporation. All rights reserved.
 *
 * This program is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License version
 * 2 or later as published by the Free Software Foundation.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * Author Name Jacob Pan <jacob.jun.pan@linux.intel.com>
 *
 */

#include <unistd.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <stdint.h>
#include <sys/types.h>
#include <dirent.h>
#include <libintl.h>
#include <ctype.h>
#include <assert.h>
#include <time.h>
#include <limits.h>
#include <math.h>
#include <sys/stat.h>
#include <syslog.h>

#include "tmon.h"

/**************************************************************************
 * PID (Proportional-Integral-Derivative) controller is commonly used in
 * linear control system, consider the the process.
 * G(s) = U(s)/E(s)
 * kp = proportional gain
 * ki = integral gain
 * kd = derivative gain
 * Ts
 * We use type C Alan Bradley equation which takes set point off the
 * output dependency in P and D term.
 *
 *   y[k] = y[k-1] - kp*(x[k] - x[k-1]) + Ki*Ts*e[k] - Kd*(x[k]
 *          - 2*x[k-1]+x[k-2])/Ts
 *
 *
 ***********************************************************************/
struct pid_params p_param;
/* cached data from previous loop */
static double xk_1, xk_2; /* input temperature x[k-#] */

/*
 * TODO: make PID parameters tuned automatically,
 * 1. use CPU burn to produce open loop unit step response
 * 2. calculate PID based on Ziegler-Nichols rule
 *
 * add a flag for tuning PID
 */
int init_thermal_controller(void)
{
	int ret = 0;

	/* init pid params */
	p_param.ts = ticktime;
	/* TODO: get it from TUI tuning tab */
	p_param.kp = .36;
	p_param.ki = 5.0;
	p_param.kd = 0.19;

	p_param.t_target = target_temp_user;

	return ret;
}

void controller_reset(void)
{
	/* TODO: relax control data when not over thermal limit */
	syslog(LOG_DEBUG, "TC inactive, relax p-state\n");
	p_param.y_k = 0.0;
	xk_1 = 0.0;
	xk_2 = 0.0;
	set_ctrl_state(0);
}

/* To be called at time interval Ts. Type C PID controller.
 *    y[k] = y[k-1] - kp*(x[k] - x[k-1]) + Ki*Ts*e[k] - Kd*(x[k]
 *          - 2*x[k-1]+x[k-2])/Ts
 * TODO: add low pass filter for D term
 */
#define GUARD_BAND (2)
void controller_handler(const double xk, double *yk)
{
	double ek;
	double p_term, i_term, d_term;

	ek = p_param.t_target - xk; /* error */
	if (ek >= 3.0) {
		syslog(LOG_DEBUG, "PID: %3.1f Below set point %3.1f, stop\n",
			xk, p_param.t_target);
		controller_reset();
		*yk = 0.0;
		return;
	}
	/* compute intermediate PID terms */
	p_term = -p_param.kp * (xk - xk_1);
	i_term = p_param.kp * p_param.ki * p_param.ts * ek;
	d_term = -p_param.kp * p_param.kd * (xk - 2 * xk_1 + xk_2) / p_param.ts;
	/* compute output */
	*yk += p_term + i_term + d_term;
	/* update sample data */
	xk_1 = xk;
	xk_2 = xk_1;

	/* clamp output adjustment range */
	if (*yk < -LIMIT_HIGH)
		*yk = -LIMIT_HIGH;
	else if (*yk > -LIMIT_LOW)
		*yk = -LIMIT_LOW;

	p_param.y_k = *yk;

	set_ctrl_state(lround(fabs(p_param.y_k)));

}
='9'>9</option><option value='10'>10</option><option value='15'>15</option><option value='20'>20</option><option value='25'>25</option><option value='30'>30</option><option value='35'>35</option><option value='40'>40</option></select></td></tr><tr><td class='label'>space:</td><td class='ctrl'><select name='ignorews' onchange='this.form.submit();'><option value='0' selected='selected'>include</option><option value='1'>ignore</option></select></td></tr><tr><td class='label'>mode:</td><td class='ctrl'><select name='dt' onchange='this.form.submit();'><option value='0' selected='selected'>unified</option><option value='1'>ssdiff</option><option value='2'>stat only</option></select></td></tr><tr><td/><td class='ctrl'><noscript><input type='submit' value='reload'/></noscript></td></tr></table></form></div><table summary='commit info' class='commit-info'>
<tr><th>author</th><td>Masashi Honma &lt;masashi.honma@gmail.com&gt;</td><td class='right'>2016-08-02 17:16:57 +0900</td></tr>
<tr><th>committer</th><td>Johannes Berg &lt;johannes.berg@intel.com&gt;</td><td class='right'>2016-08-05 14:06:29 +0200</td></tr>
<tr><th>commit</th><td colspan='2' class='oid'><a href='/cgit.cgi/linux/net-next.git/commit/?h=nds-private-remove&amp;id=71f2c3470fca51be27f6fc5975675f7e1c3b91e5'>71f2c3470fca51be27f6fc5975675f7e1c3b91e5</a> (<a href='/cgit.cgi/linux/net-next.git/patch/?id=71f2c3470fca51be27f6fc5975675f7e1c3b91e5'>patch</a>)</td></tr>
<tr><th>tree</th><td colspan='2' class='oid'><a href='/cgit.cgi/linux/net-next.git/tree/?h=nds-private-remove&amp;id=71f2c3470fca51be27f6fc5975675f7e1c3b91e5'>4ea3ebc05f78a3cfb058daf6580966664cfcbb01</a></td></tr>
<tr><th>parent</th><td colspan='2' class='oid'><a href='/cgit.cgi/linux/net-next.git/commit/?h=nds-private-remove&amp;id=6b07d9ca9b5363dda959b9582a3fc9c0b89ef3b5'>6b07d9ca9b5363dda959b9582a3fc9c0b89ef3b5</a> (<a href='/cgit.cgi/linux/net-next.git/diff/?h=nds-private-remove&amp;id=71f2c3470fca51be27f6fc5975675f7e1c3b91e5&amp;id2=6b07d9ca9b5363dda959b9582a3fc9c0b89ef3b5'>diff</a>)</td></tr></table>
<div class='commit-subject'>mac80211: End the MPSP even if EOSP frame was not acked</div><div class='commit-msg'>If QoS frame with EOSP (end of service period) subfield=1 sent by local
peer was not acked by remote peer, local peer did not end the MPSP. This
prevents local peer from going to DOZE state. And if the remote peer
goes away without closing connection, local peer continues AWAKE state
and wastes battery.

Signed-off-by: Masashi Honma &lt;masashi.honma@gmail.com&gt;
Acked-by: Bob Copeland &lt;me@bobcopeland.com&gt;
Signed-off-by: Johannes Berg &lt;johannes.berg@intel.com&gt;
</div><div class='diffstat-header'><a href='/cgit.cgi/linux/net-next.git/diff/?h=nds-private-remove&amp;id=71f2c3470fca51be27f6fc5975675f7e1c3b91e5'>Diffstat</a></div><table summary='diffstat' class='diffstat'>