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CMSIS DSP library

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cmsis_dsp/ControllerFunctions/arm_pid_init_f32.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
Child:
5:3762170b6d4d
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_f32.c
emilmont 1:fdd22bb7aa52 9 *
emilmont 2:da51fb522205 10 * Description: Floating-point PID Control initialization function
emilmont 2:da51fb522205 11 *
emilmont 1:fdd22bb7aa52 12 *
emilmont 1:fdd22bb7aa52 13 * Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
emilmont 1:fdd22bb7aa52 14 *
mbed_official 3:7a284390b0ce 15 * Redistribution and use in source and binary forms, with or without
mbed_official 3:7a284390b0ce 16 * modification, are permitted provided that the following conditions
mbed_official 3:7a284390b0ce 17 * are met:
mbed_official 3:7a284390b0ce 18 * - Redistributions of source code must retain the above copyright
mbed_official 3:7a284390b0ce 19 * notice, this list of conditions and the following disclaimer.
mbed_official 3:7a284390b0ce 20 * - Redistributions in binary form must reproduce the above copyright
mbed_official 3:7a284390b0ce 21 * notice, this list of conditions and the following disclaimer in
mbed_official 3:7a284390b0ce 22 * the documentation and/or other materials provided with the
mbed_official 3:7a284390b0ce 23 * distribution.
mbed_official 3:7a284390b0ce 24 * - Neither the name of ARM LIMITED nor the names of its contributors
mbed_official 3:7a284390b0ce 25 * may be used to endorse or promote products derived from this
mbed_official 3:7a284390b0ce 26 * software without specific prior written permission.
mbed_official 3:7a284390b0ce 27 *
mbed_official 3:7a284390b0ce 28 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
mbed_official 3:7a284390b0ce 29 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
mbed_official 3:7a284390b0ce 30 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
mbed_official 3:7a284390b0ce 31 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
mbed_official 3:7a284390b0ce 32 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
mbed_official 3:7a284390b0ce 33 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
mbed_official 3:7a284390b0ce 34 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
mbed_official 3:7a284390b0ce 35 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
mbed_official 3:7a284390b0ce 36 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
mbed_official 3:7a284390b0ce 37 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
mbed_official 3:7a284390b0ce 38 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
mbed_official 3:7a284390b0ce 39 * POSSIBILITY OF SUCH DAMAGE.
emilmont 1:fdd22bb7aa52 40 * ------------------------------------------------------------------- */
emilmont 1:fdd22bb7aa52 41
emilmont 1:fdd22bb7aa52 42 #include "arm_math.h"
emilmont 1:fdd22bb7aa52 43
emilmont 1:fdd22bb7aa52 44 /**
emilmont 1:fdd22bb7aa52 45 * @addtogroup PID
emilmont 1:fdd22bb7aa52 46 * @{
emilmont 1:fdd22bb7aa52 47 */
emilmont 1:fdd22bb7aa52 48
emilmont 1:fdd22bb7aa52 49 /**
emilmont 1:fdd22bb7aa52 50 * @brief Initialization function for the floating-point PID Control.
emilmont 1:fdd22bb7aa52 51 * @param[in,out] *S points to an instance of the PID structure.
emilmont 1:fdd22bb7aa52 52 * @param[in] resetStateFlag flag to reset the state. 0 = no change in state & 1 = reset the state.
emilmont 1:fdd22bb7aa52 53 * @return none.
emilmont 1:fdd22bb7aa52 54 * \par Description:
emilmont 1:fdd22bb7aa52 55 * \par
emilmont 1:fdd22bb7aa52 56 * The <code>resetStateFlag</code> specifies whether to set state to zero or not. \n
emilmont 1:fdd22bb7aa52 57 * The function computes the structure fields: <code>A0</code>, <code>A1</code> <code>A2</code>
emilmont 1:fdd22bb7aa52 58 * using the proportional gain( \c Kp), integral gain( \c Ki) and derivative gain( \c Kd)
emilmont 1:fdd22bb7aa52 59 * also sets the state variables to all zeros.
emilmont 1:fdd22bb7aa52 60 */
emilmont 1:fdd22bb7aa52 61
emilmont 1:fdd22bb7aa52 62 void arm_pid_init_f32(
emilmont 1:fdd22bb7aa52 63 arm_pid_instance_f32 * S,
emilmont 1:fdd22bb7aa52 64 int32_t resetStateFlag)
emilmont 1:fdd22bb7aa52 65 {
emilmont 1:fdd22bb7aa52 66
emilmont 1:fdd22bb7aa52 67 /* Derived coefficient A0 */
emilmont 1:fdd22bb7aa52 68 S->A0 = S->Kp + S->Ki + S->Kd;
emilmont 1:fdd22bb7aa52 69
emilmont 1:fdd22bb7aa52 70 /* Derived coefficient A1 */
emilmont 1:fdd22bb7aa52 71 S->A1 = (-S->Kp) - ((float32_t) 2.0 * S->Kd);
emilmont 1:fdd22bb7aa52 72
emilmont 1:fdd22bb7aa52 73 /* Derived coefficient A2 */
emilmont 1:fdd22bb7aa52 74 S->A2 = S->Kd;
emilmont 1:fdd22bb7aa52 75
emilmont 1:fdd22bb7aa52 76 /* Check whether state needs reset or not */
emilmont 1:fdd22bb7aa52 77 if(resetStateFlag)
emilmont 1:fdd22bb7aa52 78 {
emilmont 1:fdd22bb7aa52 79 /* Clear the state buffer. The size will be always 3 samples */
emilmont 1:fdd22bb7aa52 80 memset(S->state, 0, 3u * sizeof(float32_t));
emilmont 1:fdd22bb7aa52 81 }
emilmont 1:fdd22bb7aa52 82
emilmont 1:fdd22bb7aa52 83 }
emilmont 1:fdd22bb7aa52 84
emilmont 1:fdd22bb7aa52 85 /**
emilmont 1:fdd22bb7aa52 86 * @} end of PID group
emilmont 1:fdd22bb7aa52 87 */