The CMSIS DSP 5 library
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functions/ControllerFunctions/arm_pid_init_q31.c@3:4098b9d3d571, 2018-06-21 (annotated)
- Committer:
- xorjoep
- Date:
- Thu Jun 21 11:56:27 2018 +0000
- Revision:
- 3:4098b9d3d571
- Parent:
- 1:24714b45cd1b
headers is a folder not a library
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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xorjoep | 1:24714b45cd1b | 1 | /* ---------------------------------------------------------------------- |
xorjoep | 1:24714b45cd1b | 2 | * Project: CMSIS DSP Library |
xorjoep | 1:24714b45cd1b | 3 | * Title: arm_pid_init_q31.c |
xorjoep | 1:24714b45cd1b | 4 | * Description: Q31 PID Control initialization function |
xorjoep | 1:24714b45cd1b | 5 | * |
xorjoep | 1:24714b45cd1b | 6 | * $Date: 27. January 2017 |
xorjoep | 1:24714b45cd1b | 7 | * $Revision: V.1.5.1 |
xorjoep | 1:24714b45cd1b | 8 | * |
xorjoep | 1:24714b45cd1b | 9 | * Target Processor: Cortex-M cores |
xorjoep | 1:24714b45cd1b | 10 | * -------------------------------------------------------------------- */ |
xorjoep | 1:24714b45cd1b | 11 | /* |
xorjoep | 1:24714b45cd1b | 12 | * Copyright (C) 2010-2017 ARM Limited or its affiliates. All rights reserved. |
xorjoep | 1:24714b45cd1b | 13 | * |
xorjoep | 1:24714b45cd1b | 14 | * SPDX-License-Identifier: Apache-2.0 |
xorjoep | 1:24714b45cd1b | 15 | * |
xorjoep | 1:24714b45cd1b | 16 | * Licensed under the Apache License, Version 2.0 (the License); you may |
xorjoep | 1:24714b45cd1b | 17 | * not use this file except in compliance with the License. |
xorjoep | 1:24714b45cd1b | 18 | * You may obtain a copy of the License at |
xorjoep | 1:24714b45cd1b | 19 | * |
xorjoep | 1:24714b45cd1b | 20 | * www.apache.org/licenses/LICENSE-2.0 |
xorjoep | 1:24714b45cd1b | 21 | * |
xorjoep | 1:24714b45cd1b | 22 | * Unless required by applicable law or agreed to in writing, software |
xorjoep | 1:24714b45cd1b | 23 | * distributed under the License is distributed on an AS IS BASIS, WITHOUT |
xorjoep | 1:24714b45cd1b | 24 | * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
xorjoep | 1:24714b45cd1b | 25 | * See the License for the specific language governing permissions and |
xorjoep | 1:24714b45cd1b | 26 | * limitations under the License. |
xorjoep | 1:24714b45cd1b | 27 | */ |
xorjoep | 1:24714b45cd1b | 28 | |
xorjoep | 1:24714b45cd1b | 29 | #include "arm_math.h" |
xorjoep | 1:24714b45cd1b | 30 | |
xorjoep | 1:24714b45cd1b | 31 | /** |
xorjoep | 1:24714b45cd1b | 32 | * @addtogroup PID |
xorjoep | 1:24714b45cd1b | 33 | * @{ |
xorjoep | 1:24714b45cd1b | 34 | */ |
xorjoep | 1:24714b45cd1b | 35 | |
xorjoep | 1:24714b45cd1b | 36 | /** |
xorjoep | 1:24714b45cd1b | 37 | * @brief Initialization function for the Q31 PID Control. |
xorjoep | 1:24714b45cd1b | 38 | * @param[in,out] *S points to an instance of the Q31 PID structure. |
xorjoep | 1:24714b45cd1b | 39 | * @param[in] resetStateFlag flag to reset the state. 0 = no change in state 1 = reset the state. |
xorjoep | 1:24714b45cd1b | 40 | * @return none. |
xorjoep | 1:24714b45cd1b | 41 | * \par Description: |
xorjoep | 1:24714b45cd1b | 42 | * \par |
xorjoep | 1:24714b45cd1b | 43 | * The <code>resetStateFlag</code> specifies whether to set state to zero or not. \n |
xorjoep | 1:24714b45cd1b | 44 | * The function computes the structure fields: <code>A0</code>, <code>A1</code> <code>A2</code> |
xorjoep | 1:24714b45cd1b | 45 | * using the proportional gain( \c Kp), integral gain( \c Ki) and derivative gain( \c Kd) |
xorjoep | 1:24714b45cd1b | 46 | * also sets the state variables to all zeros. |
xorjoep | 1:24714b45cd1b | 47 | */ |
xorjoep | 1:24714b45cd1b | 48 | |
xorjoep | 1:24714b45cd1b | 49 | void arm_pid_init_q31( |
xorjoep | 1:24714b45cd1b | 50 | arm_pid_instance_q31 * S, |
xorjoep | 1:24714b45cd1b | 51 | int32_t resetStateFlag) |
xorjoep | 1:24714b45cd1b | 52 | { |
xorjoep | 1:24714b45cd1b | 53 | |
xorjoep | 1:24714b45cd1b | 54 | #if defined (ARM_MATH_DSP) |
xorjoep | 1:24714b45cd1b | 55 | |
xorjoep | 1:24714b45cd1b | 56 | /* Run the below code for Cortex-M4 and Cortex-M3 */ |
xorjoep | 1:24714b45cd1b | 57 | |
xorjoep | 1:24714b45cd1b | 58 | /* Derived coefficient A0 */ |
xorjoep | 1:24714b45cd1b | 59 | S->A0 = __QADD(__QADD(S->Kp, S->Ki), S->Kd); |
xorjoep | 1:24714b45cd1b | 60 | |
xorjoep | 1:24714b45cd1b | 61 | /* Derived coefficient A1 */ |
xorjoep | 1:24714b45cd1b | 62 | S->A1 = -__QADD(__QADD(S->Kd, S->Kd), S->Kp); |
xorjoep | 1:24714b45cd1b | 63 | |
xorjoep | 1:24714b45cd1b | 64 | |
xorjoep | 1:24714b45cd1b | 65 | #else |
xorjoep | 1:24714b45cd1b | 66 | |
xorjoep | 1:24714b45cd1b | 67 | /* Run the below code for Cortex-M0 */ |
xorjoep | 1:24714b45cd1b | 68 | |
xorjoep | 1:24714b45cd1b | 69 | q31_t temp; |
xorjoep | 1:24714b45cd1b | 70 | |
xorjoep | 1:24714b45cd1b | 71 | /* Derived coefficient A0 */ |
xorjoep | 1:24714b45cd1b | 72 | temp = clip_q63_to_q31((q63_t) S->Kp + S->Ki); |
xorjoep | 1:24714b45cd1b | 73 | S->A0 = clip_q63_to_q31((q63_t) temp + S->Kd); |
xorjoep | 1:24714b45cd1b | 74 | |
xorjoep | 1:24714b45cd1b | 75 | /* Derived coefficient A1 */ |
xorjoep | 1:24714b45cd1b | 76 | temp = clip_q63_to_q31((q63_t) S->Kd + S->Kd); |
xorjoep | 1:24714b45cd1b | 77 | S->A1 = -clip_q63_to_q31((q63_t) temp + S->Kp); |
xorjoep | 1:24714b45cd1b | 78 | |
xorjoep | 1:24714b45cd1b | 79 | #endif /* #if defined (ARM_MATH_DSP) */ |
xorjoep | 1:24714b45cd1b | 80 | |
xorjoep | 1:24714b45cd1b | 81 | /* Derived coefficient A2 */ |
xorjoep | 1:24714b45cd1b | 82 | S->A2 = S->Kd; |
xorjoep | 1:24714b45cd1b | 83 | |
xorjoep | 1:24714b45cd1b | 84 | /* Check whether state needs reset or not */ |
xorjoep | 1:24714b45cd1b | 85 | if (resetStateFlag) |
xorjoep | 1:24714b45cd1b | 86 | { |
xorjoep | 1:24714b45cd1b | 87 | /* Clear the state buffer. The size will be always 3 samples */ |
xorjoep | 1:24714b45cd1b | 88 | memset(S->state, 0, 3U * sizeof(q31_t)); |
xorjoep | 1:24714b45cd1b | 89 | } |
xorjoep | 1:24714b45cd1b | 90 | |
xorjoep | 1:24714b45cd1b | 91 | } |
xorjoep | 1:24714b45cd1b | 92 | |
xorjoep | 1:24714b45cd1b | 93 | /** |
xorjoep | 1:24714b45cd1b | 94 | * @} end of PID group |
xorjoep | 1:24714b45cd1b | 95 | */ |