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
Diff: ControllerFunctions/arm_pid_init_f32.c
- Revision:
- 0:3d9c67d97d6f
diff -r 000000000000 -r 3d9c67d97d6f ControllerFunctions/arm_pid_init_f32.c --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ControllerFunctions/arm_pid_init_f32.c Mon Jul 28 15:03:15 2014 +0000 @@ -0,0 +1,87 @@ +/* ---------------------------------------------------------------------- +* Copyright (C) 2010-2014 ARM Limited. All rights reserved. +* +* $Date: 12. March 2014 +* $Revision: V1.4.3 +* +* Project: CMSIS DSP Library +* Title: arm_pid_init_f32.c +* +* Description: Floating-point PID Control initialization function +* +* +* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions +* are met: +* - Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* - Redistributions in binary form must reproduce the above copyright +* notice, this list of conditions and the following disclaimer in +* the documentation and/or other materials provided with the +* distribution. +* - Neither the name of ARM LIMITED nor the names of its contributors +* may be used to endorse or promote products derived from this +* software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +* ------------------------------------------------------------------- */ + +#include "arm_math.h" + + /** + * @addtogroup PID + * @{ + */ + +/** + * @brief Initialization function for the floating-point PID Control. + * @param[in,out] *S points to an instance of the PID structure. + * @param[in] resetStateFlag flag to reset the state. 0 = no change in state & 1 = reset the state. + * @return none. + * \par Description: + * \par + * The <code>resetStateFlag</code> specifies whether to set state to zero or not. \n + * The function computes the structure fields: <code>A0</code>, <code>A1</code> <code>A2</code> + * using the proportional gain( \c Kp), integral gain( \c Ki) and derivative gain( \c Kd) + * also sets the state variables to all zeros. + */ + +void arm_pid_init_f32( + arm_pid_instance_f32 * S, + int32_t resetStateFlag) +{ + + /* Derived coefficient A0 */ + S->A0 = S->Kp + S->Ki + S->Kd; + + /* Derived coefficient A1 */ + S->A1 = (-S->Kp) - ((float32_t) 2.0 * S->Kd); + + /* Derived coefficient A2 */ + S->A2 = S->Kd; + + /* Check whether state needs reset or not */ + if(resetStateFlag) + { + /* Clear the state buffer. The size will be always 3 samples */ + memset(S->state, 0, 3u * sizeof(float32_t)); + } + +} + +/** + * @} end of PID group + */