mbed official / mbed-dsp

CMSIS DSP library

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cmsis_dsp/ControllerFunctions/arm_pid_init_q31.c@3:7a284390b0ce, 2013-11-08 (annotated)

Committer:
mbed_official
Date:
Fri Nov 08 13:45:10 2013 +0000
Revision:
3:7a284390b0ce
Parent:
2:da51fb522205 
Synchronized with git revision e69956aba2f68a2a26ac26b051f8d349deaa1ce8

Who changed what in which revision?

UserRevisionLine numberNew contents of line
emilmont 1:fdd22bb7aa52 1 /* ----------------------------------------------------------------------
mbed_official 3:7a284390b0ce 2 * Copyright (C) 2010-2013 ARM Limited. All rights reserved.
emilmont 1:fdd22bb7aa52 3 *
mbed_official 3:7a284390b0ce 4 * $Date: 17. January 2013
mbed_official 3:7a284390b0ce 5 * $Revision: V1.4.1
emilmont 1:fdd22bb7aa52 6 *
emilmont 2:da51fb522205 7 * Project: CMSIS DSP Library
emilmont 2:da51fb522205 8 * Title: arm_pid_init_q31.c
emilmont 1:fdd22bb7aa52 9 *
emilmont 2:da51fb522205 10 * Description: Q31 PID Control initialization function
emilmont 1:fdd22bb7aa52 11 *
emilmont 1:fdd22bb7aa52 12 * Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
emilmont 1:fdd22bb7aa52 13 *
mbed_official 3:7a284390b0ce 14 * Redistribution and use in source and binary forms, with or without
mbed_official 3:7a284390b0ce 15 * modification, are permitted provided that the following conditions
mbed_official 3:7a284390b0ce 16 * are met:
mbed_official 3:7a284390b0ce 17 * - Redistributions of source code must retain the above copyright
mbed_official 3:7a284390b0ce 18 * notice, this list of conditions and the following disclaimer.
mbed_official 3:7a284390b0ce 19 * - Redistributions in binary form must reproduce the above copyright
mbed_official 3:7a284390b0ce 20 * notice, this list of conditions and the following disclaimer in
mbed_official 3:7a284390b0ce 21 * the documentation and/or other materials provided with the
mbed_official 3:7a284390b0ce 22 * distribution.
mbed_official 3:7a284390b0ce 23 * - Neither the name of ARM LIMITED nor the names of its contributors
mbed_official 3:7a284390b0ce 24 * may be used to endorse or promote products derived from this
mbed_official 3:7a284390b0ce 25 * software without specific prior written permission.
mbed_official 3:7a284390b0ce 26 *
mbed_official 3:7a284390b0ce 27 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
mbed_official 3:7a284390b0ce 28 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
mbed_official 3:7a284390b0ce 29 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
mbed_official 3:7a284390b0ce 30 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
mbed_official 3:7a284390b0ce 31 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
mbed_official 3:7a284390b0ce 32 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
mbed_official 3:7a284390b0ce 33 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
mbed_official 3:7a284390b0ce 34 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
mbed_official 3:7a284390b0ce 35 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
mbed_official 3:7a284390b0ce 36 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
mbed_official 3:7a284390b0ce 37 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
mbed_official 3:7a284390b0ce 38 * POSSIBILITY OF SUCH DAMAGE.
emilmont 1:fdd22bb7aa52 39 * ------------------------------------------------------------------- */
emilmont 1:fdd22bb7aa52 40
emilmont 1:fdd22bb7aa52 41 #include "arm_math.h"
emilmont 1:fdd22bb7aa52 42
emilmont 1:fdd22bb7aa52 43 /**
emilmont 1:fdd22bb7aa52 44 * @addtogroup PID
emilmont 1:fdd22bb7aa52 45 * @{
emilmont 1:fdd22bb7aa52 46 */
emilmont 1:fdd22bb7aa52 47
emilmont 1:fdd22bb7aa52 48 /**
emilmont 1:fdd22bb7aa52 49 * @brief Initialization function for the Q31 PID Control.
emilmont 1:fdd22bb7aa52 50 * @param[in,out] *S points to an instance of the Q31 PID structure.
emilmont 1:fdd22bb7aa52 51 * @param[in] resetStateFlag flag to reset the state. 0 = no change in state 1 = reset the state.
emilmont 1:fdd22bb7aa52 52 * @return none.
emilmont 1:fdd22bb7aa52 53 * \par Description:
emilmont 1:fdd22bb7aa52 54 * \par
emilmont 1:fdd22bb7aa52 55 * The <code>resetStateFlag</code> specifies whether to set state to zero or not. \n
emilmont 1:fdd22bb7aa52 56 * The function computes the structure fields: <code>A0</code>, <code>A1</code> <code>A2</code>
emilmont 1:fdd22bb7aa52 57 * using the proportional gain( \c Kp), integral gain( \c Ki) and derivative gain( \c Kd)
emilmont 1:fdd22bb7aa52 58 * also sets the state variables to all zeros.
emilmont 1:fdd22bb7aa52 59 */
emilmont 1:fdd22bb7aa52 60
emilmont 1:fdd22bb7aa52 61 void arm_pid_init_q31(
emilmont 1:fdd22bb7aa52 62 arm_pid_instance_q31 * S,
emilmont 1:fdd22bb7aa52 63 int32_t resetStateFlag)
emilmont 1:fdd22bb7aa52 64 {
emilmont 1:fdd22bb7aa52 65
mbed_official 3:7a284390b0ce 66 #ifndef ARM_MATH_CM0_FAMILY
emilmont 1:fdd22bb7aa52 67
emilmont 1:fdd22bb7aa52 68 /* Run the below code for Cortex-M4 and Cortex-M3 */
emilmont 1:fdd22bb7aa52 69
emilmont 1:fdd22bb7aa52 70 /* Derived coefficient A0 */
emilmont 1:fdd22bb7aa52 71 S->A0 = __QADD(__QADD(S->Kp, S->Ki), S->Kd);
emilmont 1:fdd22bb7aa52 72
emilmont 1:fdd22bb7aa52 73 /* Derived coefficient A1 */
emilmont 1:fdd22bb7aa52 74 S->A1 = -__QADD(__QADD(S->Kd, S->Kd), S->Kp);
emilmont 1:fdd22bb7aa52 75
emilmont 1:fdd22bb7aa52 76
emilmont 1:fdd22bb7aa52 77 #else
emilmont 1:fdd22bb7aa52 78
emilmont 1:fdd22bb7aa52 79 /* Run the below code for Cortex-M0 */
emilmont 1:fdd22bb7aa52 80
emilmont 1:fdd22bb7aa52 81 q31_t temp;
emilmont 1:fdd22bb7aa52 82
emilmont 1:fdd22bb7aa52 83 /* Derived coefficient A0 */
emilmont 1:fdd22bb7aa52 84 temp = clip_q63_to_q31((q63_t) S->Kp + S->Ki);
emilmont 1:fdd22bb7aa52 85 S->A0 = clip_q63_to_q31((q63_t) temp + S->Kd);
emilmont 1:fdd22bb7aa52 86
emilmont 1:fdd22bb7aa52 87 /* Derived coefficient A1 */
emilmont 1:fdd22bb7aa52 88 temp = clip_q63_to_q31((q63_t) S->Kd + S->Kd);
emilmont 1:fdd22bb7aa52 89 S->A1 = -clip_q63_to_q31((q63_t) temp + S->Kp);
emilmont 1:fdd22bb7aa52 90
mbed_official 3:7a284390b0ce 91 #endif /* #ifndef ARM_MATH_CM0_FAMILY */
emilmont 1:fdd22bb7aa52 92
emilmont 1:fdd22bb7aa52 93 /* Derived coefficient A2 */
emilmont 1:fdd22bb7aa52 94 S->A2 = S->Kd;
emilmont 1:fdd22bb7aa52 95
emilmont 1:fdd22bb7aa52 96 /* Check whether state needs reset or not */
emilmont 1:fdd22bb7aa52 97 if(resetStateFlag)
emilmont 1:fdd22bb7aa52 98 {
emilmont 1:fdd22bb7aa52 99 /* Clear the state buffer. The size will be always 3 samples */
emilmont 1:fdd22bb7aa52 100 memset(S->state, 0, 3u * sizeof(q31_t));
emilmont 1:fdd22bb7aa52 101 }
emilmont 1:fdd22bb7aa52 102
emilmont 1:fdd22bb7aa52 103 }
emilmont 1:fdd22bb7aa52 104
emilmont 1:fdd22bb7aa52 105 /**
emilmont 1:fdd22bb7aa52 106 * @} end of PID group
emilmont 1:fdd22bb7aa52 107 */