arm_pid_init_q31.c
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| 2.6 KiB
| text/x-c
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CLexer
jeandet@pc-de-jeandet3.LAB-LPP.LOCAL
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r41 | /* ---------------------------------------------------------------------- | ||
| * Copyright (C) 2010 ARM Limited. All rights reserved. | ||||
| * | ||||
| * $Date: 15. July 2011 | ||||
| * $Revision: V1.0.10 | ||||
| * | ||||
| * Project: CMSIS DSP Library | ||||
| * Title: arm_pid_init_q31.c | ||||
| * | ||||
| * Description: Q31 PID Control initialization function | ||||
| * | ||||
| * Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 | ||||
| * | ||||
| * Version 1.0.10 2011/7/15 | ||||
| * Big Endian support added and Merged M0 and M3/M4 Source code. | ||||
| * | ||||
| * Version 1.0.3 2010/11/29 | ||||
| * Re-organized the CMSIS folders and updated documentation. | ||||
| * | ||||
| * Version 1.0.2 2010/11/11 | ||||
| * Documentation updated. | ||||
| * | ||||
| * Version 1.0.1 2010/10/05 | ||||
| * Production release and review comments incorporated. | ||||
| * | ||||
| * Version 1.0.0 2010/09/20 | ||||
| * Production release and review comments incorporated. | ||||
| * ------------------------------------------------------------------- */ | ||||
| #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) | ||||
| { | ||||
| #ifndef ARM_MATH_CM0 | ||||
| /* 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 /* #ifndef ARM_MATH_CM0 */ | ||||
| /* 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 | ||||
| */ | ||||