Eli Hughes / CMSIS_DSP_401

V4.0.1 of the ARM CMSIS DSP libraries. Note that arm_bitreversal2.s, arm_cfft_f32.c and arm_rfft_fast_f32.c had to be removed. arm_bitreversal2.s will not assemble with the online tools. So, the fast f32 FFT functions are not yet available. All the other FFT functions are available.

Dependents:   MPU9150_Example fir_f32 fir_f32 MPU9150_nucleo_noni2cdev ... more

ControllerFunctions/arm_pid_init_q31.c@0:3d9c67d97d6f, 2014-07-28 (annotated)

Committer:
emh203
Date:
Mon Jul 28 15:03:15 2014 +0000
Revision:
0:3d9c67d97d6f
1st working commit.   Had to remove arm_bitreversal2.s     arm_cfft_f32.c and arm_rfft_fast_f32.c.    The .s will not assemble.      For now I removed these functions so we could at least have a library for the other functions.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
emh203 0:3d9c67d97d6f 1 /* ----------------------------------------------------------------------
emh203 0:3d9c67d97d6f 2 * Copyright (C) 2010-2014 ARM Limited. All rights reserved.
emh203 0:3d9c67d97d6f 3 *
emh203 0:3d9c67d97d6f 4 * $Date: 12. March 2014
emh203 0:3d9c67d97d6f 5 * $Revision: V1.4.3
emh203 0:3d9c67d97d6f 6 *
emh203 0:3d9c67d97d6f 7 * Project: CMSIS DSP Library
emh203 0:3d9c67d97d6f 8 * Title: arm_pid_init_q31.c
emh203 0:3d9c67d97d6f 9 *
emh203 0:3d9c67d97d6f 10 * Description: Q31 PID Control initialization function
emh203 0:3d9c67d97d6f 11 *
emh203 0:3d9c67d97d6f 12 * Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
emh203 0:3d9c67d97d6f 13 *
emh203 0:3d9c67d97d6f 14 * Redistribution and use in source and binary forms, with or without
emh203 0:3d9c67d97d6f 15 * modification, are permitted provided that the following conditions
emh203 0:3d9c67d97d6f 16 * are met:
emh203 0:3d9c67d97d6f 17 * - Redistributions of source code must retain the above copyright
emh203 0:3d9c67d97d6f 18 * notice, this list of conditions and the following disclaimer.
emh203 0:3d9c67d97d6f 19 * - Redistributions in binary form must reproduce the above copyright
emh203 0:3d9c67d97d6f 20 * notice, this list of conditions and the following disclaimer in
emh203 0:3d9c67d97d6f 21 * the documentation and/or other materials provided with the
emh203 0:3d9c67d97d6f 22 * distribution.
emh203 0:3d9c67d97d6f 23 * - Neither the name of ARM LIMITED nor the names of its contributors
emh203 0:3d9c67d97d6f 24 * may be used to endorse or promote products derived from this
emh203 0:3d9c67d97d6f 25 * software without specific prior written permission.
emh203 0:3d9c67d97d6f 26 *
emh203 0:3d9c67d97d6f 27 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
emh203 0:3d9c67d97d6f 28 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
emh203 0:3d9c67d97d6f 29 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
emh203 0:3d9c67d97d6f 30 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
emh203 0:3d9c67d97d6f 31 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
emh203 0:3d9c67d97d6f 32 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
emh203 0:3d9c67d97d6f 33 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
emh203 0:3d9c67d97d6f 34 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
emh203 0:3d9c67d97d6f 35 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
emh203 0:3d9c67d97d6f 36 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
emh203 0:3d9c67d97d6f 37 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
emh203 0:3d9c67d97d6f 38 * POSSIBILITY OF SUCH DAMAGE.
emh203 0:3d9c67d97d6f 39 * ------------------------------------------------------------------- */
emh203 0:3d9c67d97d6f 40
emh203 0:3d9c67d97d6f 41 #include "arm_math.h"
emh203 0:3d9c67d97d6f 42
emh203 0:3d9c67d97d6f 43 /**
emh203 0:3d9c67d97d6f 44 * @addtogroup PID
emh203 0:3d9c67d97d6f 45 * @{
emh203 0:3d9c67d97d6f 46 */
emh203 0:3d9c67d97d6f 47
emh203 0:3d9c67d97d6f 48 /**
emh203 0:3d9c67d97d6f 49 * @brief Initialization function for the Q31 PID Control.
emh203 0:3d9c67d97d6f 50 * @param[in,out] *S points to an instance of the Q31 PID structure.
emh203 0:3d9c67d97d6f 51 * @param[in] resetStateFlag flag to reset the state. 0 = no change in state 1 = reset the state.
emh203 0:3d9c67d97d6f 52 * @return none.
emh203 0:3d9c67d97d6f 53 * \par Description:
emh203 0:3d9c67d97d6f 54 * \par
emh203 0:3d9c67d97d6f 55 * The <code>resetStateFlag</code> specifies whether to set state to zero or not. \n
emh203 0:3d9c67d97d6f 56 * The function computes the structure fields: <code>A0</code>, <code>A1</code> <code>A2</code>
emh203 0:3d9c67d97d6f 57 * using the proportional gain( \c Kp), integral gain( \c Ki) and derivative gain( \c Kd)
emh203 0:3d9c67d97d6f 58 * also sets the state variables to all zeros.
emh203 0:3d9c67d97d6f 59 */
emh203 0:3d9c67d97d6f 60
emh203 0:3d9c67d97d6f 61 void arm_pid_init_q31(
emh203 0:3d9c67d97d6f 62 arm_pid_instance_q31 * S,
emh203 0:3d9c67d97d6f 63 int32_t resetStateFlag)
emh203 0:3d9c67d97d6f 64 {
emh203 0:3d9c67d97d6f 65
emh203 0:3d9c67d97d6f 66 #ifndef ARM_MATH_CM0_FAMILY
emh203 0:3d9c67d97d6f 67
emh203 0:3d9c67d97d6f 68 /* Run the below code for Cortex-M4 and Cortex-M3 */
emh203 0:3d9c67d97d6f 69
emh203 0:3d9c67d97d6f 70 /* Derived coefficient A0 */
emh203 0:3d9c67d97d6f 71 S->A0 = __QADD(__QADD(S->Kp, S->Ki), S->Kd);
emh203 0:3d9c67d97d6f 72
emh203 0:3d9c67d97d6f 73 /* Derived coefficient A1 */
emh203 0:3d9c67d97d6f 74 S->A1 = -__QADD(__QADD(S->Kd, S->Kd), S->Kp);
emh203 0:3d9c67d97d6f 75
emh203 0:3d9c67d97d6f 76
emh203 0:3d9c67d97d6f 77 #else
emh203 0:3d9c67d97d6f 78
emh203 0:3d9c67d97d6f 79 /* Run the below code for Cortex-M0 */
emh203 0:3d9c67d97d6f 80
emh203 0:3d9c67d97d6f 81 q31_t temp;
emh203 0:3d9c67d97d6f 82
emh203 0:3d9c67d97d6f 83 /* Derived coefficient A0 */
emh203 0:3d9c67d97d6f 84 temp = clip_q63_to_q31((q63_t) S->Kp + S->Ki);
emh203 0:3d9c67d97d6f 85 S->A0 = clip_q63_to_q31((q63_t) temp + S->Kd);
emh203 0:3d9c67d97d6f 86
emh203 0:3d9c67d97d6f 87 /* Derived coefficient A1 */
emh203 0:3d9c67d97d6f 88 temp = clip_q63_to_q31((q63_t) S->Kd + S->Kd);
emh203 0:3d9c67d97d6f 89 S->A1 = -clip_q63_to_q31((q63_t) temp + S->Kp);
emh203 0:3d9c67d97d6f 90
emh203 0:3d9c67d97d6f 91 #endif /* #ifndef ARM_MATH_CM0_FAMILY */
emh203 0:3d9c67d97d6f 92
emh203 0:3d9c67d97d6f 93 /* Derived coefficient A2 */
emh203 0:3d9c67d97d6f 94 S->A2 = S->Kd;
emh203 0:3d9c67d97d6f 95
emh203 0:3d9c67d97d6f 96 /* Check whether state needs reset or not */
emh203 0:3d9c67d97d6f 97 if(resetStateFlag)
emh203 0:3d9c67d97d6f 98 {
emh203 0:3d9c67d97d6f 99 /* Clear the state buffer. The size will be always 3 samples */
emh203 0:3d9c67d97d6f 100 memset(S->state, 0, 3u * sizeof(q31_t));
emh203 0:3d9c67d97d6f 101 }
emh203 0:3d9c67d97d6f 102
emh203 0:3d9c67d97d6f 103 }
emh203 0:3d9c67d97d6f 104
emh203 0:3d9c67d97d6f 105 /**
emh203 0:3d9c67d97d6f 106 * @} end of PID group
emh203 0:3d9c67d97d6f 107 */