The CMSIS DSP 5 library
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functions/ControllerFunctions/arm_pid_init_q31.c
- Committer:
- xorjoep
- Date:
- 2018-06-21
- Revision:
- 3:4098b9d3d571
- Parent:
- 1:24714b45cd1b
File content as of revision 3:4098b9d3d571:
/* ---------------------------------------------------------------------- * Project: CMSIS DSP Library * Title: arm_pid_init_q31.c * Description: Q31 PID Control initialization function * * $Date: 27. January 2017 * $Revision: V.1.5.1 * * Target Processor: Cortex-M cores * -------------------------------------------------------------------- */ /* * Copyright (C) 2010-2017 ARM Limited or its affiliates. All rights reserved. * * SPDX-License-Identifier: Apache-2.0 * * Licensed under the Apache License, Version 2.0 (the License); you may * not use this file except in compliance with the License. * You may obtain a copy of the License at * * www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an AS IS BASIS, WITHOUT * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. */ #include "arm_math.h" /** * @addtogroup PID * @{ */ /** * @brief Initialization function for the Q31 PID Control. * @param[in,out] *S points to an instance of the Q31 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_q31( arm_pid_instance_q31 * S, int32_t resetStateFlag) { #if defined (ARM_MATH_DSP) /* Run the below code for Cortex-M4 and Cortex-M3 */ /* Derived coefficient A0 */ S->A0 = __QADD(__QADD(S->Kp, S->Ki), S->Kd); /* Derived coefficient A1 */ S->A1 = -__QADD(__QADD(S->Kd, S->Kd), S->Kp); #else /* Run the below code for Cortex-M0 */ q31_t temp; /* Derived coefficient A0 */ temp = clip_q63_to_q31((q63_t) S->Kp + S->Ki); S->A0 = clip_q63_to_q31((q63_t) temp + S->Kd); /* Derived coefficient A1 */ temp = clip_q63_to_q31((q63_t) S->Kd + S->Kd); S->A1 = -clip_q63_to_q31((q63_t) temp + S->Kp); #endif /* #if defined (ARM_MATH_DSP) */ /* 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(q31_t)); } } /** * @} end of PID group */