17-piservo

#!/bin/bash

. test.common

test_start "ptp4l and phc2sys with various PI servo configurations"

wander=1e-9
limit=4000
max_sync_time=2000

for jitter in 1e-8 1e-7 1e-6 1e-5; do
	kp=$(awk 'BEGIN {x=1.5 / sqrt('$jitter'/'$wander'); print x < 0.7 ? x : 0.7}')
	ki=$(awk 'BEGIN {x=1.2 / ('$jitter'/'$wander'); print x < 0.3 ? x : 0.3}')
	time_rms_limit=$(awk 'BEGIN {print 1.5e-8 * ('$jitter'/1e-8)**0.75}')
	freq_rms_limit=$(awk 'BEGIN {print 1.5e-8 * ('$jitter'/1e-8)**0.5}')
	time_max_limit=$(awk 'BEGIN {print 8 * '$time_rms_limit'}')
	freq_max_limit=$(awk 'BEGIN {print 8 * '$freq_rms_limit'}')

	refclock_jitter=$jitter
	master_conf=""
	slave_conf=""
	phc2sys_conf="-s /dev/ptp0 -O 0 -P $kp -I $ki"
	nodes=1
	master_nodes="0"
	phc2sys_node=1
	run_test || test_fail
	check_sync || test_fail

	master_conf="delay_mechanism P2P"
	slave_conf="delay_mechanism P2P
		pi_proportional_const $kp
		pi_integral_const $ki"
	phc2sys_conf=""
	nodes=2
	master_nodes="1"
	phc2sys_node=0
	run_ptp4l || test_fail
	check_sync || test_fail
done

test_pass