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CMSIS DSP library

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cmsis_dsp/ControllerFunctions/arm_pid_init_q15.c@1:fdd22bb7aa52, 2012-11-28 (annotated)

Committer:
emilmont
Date:
Wed Nov 28 12:30:09 2012 +0000
Revision:
1:fdd22bb7aa52
Child:
2:da51fb522205
DSP library code

Who changed what in which revision?

UserRevisionLine numberNew contents of line
emilmont 1:fdd22bb7aa52 1 /* ----------------------------------------------------------------------
emilmont 1:fdd22bb7aa52 2 * Copyright (C) 2010 ARM Limited. All rights reserved.
emilmont 1:fdd22bb7aa52 3 *
emilmont 1:fdd22bb7aa52 4 * $Date: 15. February 2012
emilmont 1:fdd22bb7aa52 5 * $Revision: V1.1.0
emilmont 1:fdd22bb7aa52 6 *
emilmont 1:fdd22bb7aa52 7 * Project: CMSIS DSP Library
emilmont 1:fdd22bb7aa52 8 * Title: arm_pid_init_q15.c
emilmont 1:fdd22bb7aa52 9 *
emilmont 1:fdd22bb7aa52 10 * Description: Q15 PID Control initialization function
emilmont 1:fdd22bb7aa52 11 *
emilmont 1:fdd22bb7aa52 12 * Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
emilmont 1:fdd22bb7aa52 13 *
emilmont 1:fdd22bb7aa52 14 * Version 1.1.0 2012/02/15
emilmont 1:fdd22bb7aa52 15 * Updated with more optimizations, bug fixes and minor API changes.
emilmont 1:fdd22bb7aa52 16 *
emilmont 1:fdd22bb7aa52 17 * Version 1.0.10 2011/7/15
emilmont 1:fdd22bb7aa52 18 * Big Endian support added and Merged M0 and M3/M4 Source code.
emilmont 1:fdd22bb7aa52 19 *
emilmont 1:fdd22bb7aa52 20 * Version 1.0.3 2010/11/29
emilmont 1:fdd22bb7aa52 21 * Re-organized the CMSIS folders and updated documentation.
emilmont 1:fdd22bb7aa52 22 *
emilmont 1:fdd22bb7aa52 23 * Version 1.0.2 2010/11/11
emilmont 1:fdd22bb7aa52 24 * Documentation updated.
emilmont 1:fdd22bb7aa52 25 *
emilmont 1:fdd22bb7aa52 26 * Version 1.0.1 2010/10/05
emilmont 1:fdd22bb7aa52 27 * Production release and review comments incorporated.
emilmont 1:fdd22bb7aa52 28 *
emilmont 1:fdd22bb7aa52 29 * Version 1.0.0 2010/09/20
emilmont 1:fdd22bb7aa52 30 * Production release and review comments incorporated.
emilmont 1:fdd22bb7aa52 31 * -------------------------------------------------------------------- */
emilmont 1:fdd22bb7aa52 32
emilmont 1:fdd22bb7aa52 33 #include "arm_math.h"
emilmont 1:fdd22bb7aa52 34
emilmont 1:fdd22bb7aa52 35 /**
emilmont 1:fdd22bb7aa52 36 * @addtogroup PID
emilmont 1:fdd22bb7aa52 37 * @{
emilmont 1:fdd22bb7aa52 38 */
emilmont 1:fdd22bb7aa52 39
emilmont 1:fdd22bb7aa52 40 /**
emilmont 1:fdd22bb7aa52 41 * @details
emilmont 1:fdd22bb7aa52 42 * @param[in,out] *S points to an instance of the Q15 PID structure.
emilmont 1:fdd22bb7aa52 43 * @param[in] resetStateFlag flag to reset the state. 0 = no change in state 1 = reset the state.
emilmont 1:fdd22bb7aa52 44 * @return none.
emilmont 1:fdd22bb7aa52 45 * \par Description:
emilmont 1:fdd22bb7aa52 46 * \par
emilmont 1:fdd22bb7aa52 47 * The <code>resetStateFlag</code> specifies whether to set state to zero or not. \n
emilmont 1:fdd22bb7aa52 48 * The function computes the structure fields: <code>A0</code>, <code>A1</code> <code>A2</code>
emilmont 1:fdd22bb7aa52 49 * using the proportional gain( \c Kp), integral gain( \c Ki) and derivative gain( \c Kd)
emilmont 1:fdd22bb7aa52 50 * also sets the state variables to all zeros.
emilmont 1:fdd22bb7aa52 51 */
emilmont 1:fdd22bb7aa52 52
emilmont 1:fdd22bb7aa52 53 void arm_pid_init_q15(
emilmont 1:fdd22bb7aa52 54 arm_pid_instance_q15 * S,
emilmont 1:fdd22bb7aa52 55 int32_t resetStateFlag)
emilmont 1:fdd22bb7aa52 56 {
emilmont 1:fdd22bb7aa52 57
emilmont 1:fdd22bb7aa52 58 #ifndef ARM_MATH_CM0
emilmont 1:fdd22bb7aa52 59
emilmont 1:fdd22bb7aa52 60 /* Run the below code for Cortex-M4 and Cortex-M3 */
emilmont 1:fdd22bb7aa52 61
emilmont 1:fdd22bb7aa52 62 /* Derived coefficient A0 */
emilmont 1:fdd22bb7aa52 63 S->A0 = __QADD16(__QADD16(S->Kp, S->Ki), S->Kd);
emilmont 1:fdd22bb7aa52 64
emilmont 1:fdd22bb7aa52 65 /* Derived coefficients and pack into A1 */
emilmont 1:fdd22bb7aa52 66
emilmont 1:fdd22bb7aa52 67 #ifndef ARM_MATH_BIG_ENDIAN
emilmont 1:fdd22bb7aa52 68
emilmont 1:fdd22bb7aa52 69 S->A1 = __PKHBT(-__QADD16(__QADD16(S->Kd, S->Kd), S->Kp), S->Kd, 16);
emilmont 1:fdd22bb7aa52 70
emilmont 1:fdd22bb7aa52 71 #else
emilmont 1:fdd22bb7aa52 72
emilmont 1:fdd22bb7aa52 73 S->A1 = __PKHBT(S->Kd, -__QADD16(__QADD16(S->Kd, S->Kd), S->Kp), 16);
emilmont 1:fdd22bb7aa52 74
emilmont 1:fdd22bb7aa52 75 #endif /* #ifndef ARM_MATH_BIG_ENDIAN */
emilmont 1:fdd22bb7aa52 76
emilmont 1:fdd22bb7aa52 77 /* Check whether state needs reset or not */
emilmont 1:fdd22bb7aa52 78 if(resetStateFlag)
emilmont 1:fdd22bb7aa52 79 {
emilmont 1:fdd22bb7aa52 80 /* Clear the state buffer. The size will be always 3 samples */
emilmont 1:fdd22bb7aa52 81 memset(S->state, 0, 3u * sizeof(q15_t));
emilmont 1:fdd22bb7aa52 82 }
emilmont 1:fdd22bb7aa52 83
emilmont 1:fdd22bb7aa52 84 #else
emilmont 1:fdd22bb7aa52 85
emilmont 1:fdd22bb7aa52 86 /* Run the below code for Cortex-M0 */
emilmont 1:fdd22bb7aa52 87
emilmont 1:fdd22bb7aa52 88 q31_t temp; /*to store the sum */
emilmont 1:fdd22bb7aa52 89
emilmont 1:fdd22bb7aa52 90 /* Derived coefficient A0 */
emilmont 1:fdd22bb7aa52 91 temp = S->Kp + S->Ki + S->Kd;
emilmont 1:fdd22bb7aa52 92 S->A0 = (q15_t) __SSAT(temp, 16);
emilmont 1:fdd22bb7aa52 93
emilmont 1:fdd22bb7aa52 94 /* Derived coefficients and pack into A1 */
emilmont 1:fdd22bb7aa52 95 temp = -(S->Kd + S->Kd + S->Kp);
emilmont 1:fdd22bb7aa52 96 S->A1 = (q15_t) __SSAT(temp, 16);
emilmont 1:fdd22bb7aa52 97 S->A2 = S->Kd;
emilmont 1:fdd22bb7aa52 98
emilmont 1:fdd22bb7aa52 99
emilmont 1:fdd22bb7aa52 100
emilmont 1:fdd22bb7aa52 101 /* Check whether state needs reset or not */
emilmont 1:fdd22bb7aa52 102 if(resetStateFlag)
emilmont 1:fdd22bb7aa52 103 {
emilmont 1:fdd22bb7aa52 104 /* Clear the state buffer. The size will be always 3 samples */
emilmont 1:fdd22bb7aa52 105 memset(S->state, 0, 3u * sizeof(q15_t));
emilmont 1:fdd22bb7aa52 106 }
emilmont 1:fdd22bb7aa52 107
emilmont 1:fdd22bb7aa52 108 #endif /* #ifndef ARM_MATH_CM0 */
emilmont 1:fdd22bb7aa52 109
emilmont 1:fdd22bb7aa52 110 }
emilmont 1:fdd22bb7aa52 111
emilmont 1:fdd22bb7aa52 112 /**
emilmont 1:fdd22bb7aa52 113 * @} end of PID group
emilmont 1:fdd22bb7aa52 114 */