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| Rev | Author | Line No. | Line |
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| 2 | mjames | 1 | /* ---------------------------------------------------------------------- |
| 2 | * Copyright (C) 2010-2014 ARM Limited. All rights reserved. |
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| 3 | * |
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| 4 | * $Date: 19. March 2015 |
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| 5 | * $Revision: V.1.4.5 |
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| 6 | * |
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| 7 | * Project: CMSIS DSP Library |
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| 8 | * Title: arm_pid_init_q31.c |
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| 9 | * |
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| 10 | * Description: Q31 PID Control initialization function |
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| 11 | * |
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| 12 | * Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 |
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| 13 | * |
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| 14 | * Redistribution and use in source and binary forms, with or without |
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| 15 | * modification, are permitted provided that the following conditions |
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| 16 | * are met: |
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| 17 | * - Redistributions of source code must retain the above copyright |
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| 18 | * notice, this list of conditions and the following disclaimer. |
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| 19 | * - Redistributions in binary form must reproduce the above copyright |
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| 20 | * notice, this list of conditions and the following disclaimer in |
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| 21 | * the documentation and/or other materials provided with the |
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| 22 | * distribution. |
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| 23 | * - Neither the name of ARM LIMITED nor the names of its contributors |
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| 24 | * may be used to endorse or promote products derived from this |
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| 25 | * software without specific prior written permission. |
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| 26 | * |
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| 27 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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| 28 | * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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| 29 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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| 30 | * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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| 31 | * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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| 32 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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| 33 | * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; |
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| 34 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
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| 35 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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| 36 | * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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| 37 | * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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| 38 | * POSSIBILITY OF SUCH DAMAGE. |
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| 39 | * ------------------------------------------------------------------- */ |
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| 40 | |||
| 41 | #include "arm_math.h" |
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| 42 | |||
| 43 | /** |
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| 44 | * @addtogroup PID |
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| 45 | * @{ |
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| 46 | */ |
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| 47 | |||
| 48 | /** |
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| 49 | * @brief Initialization function for the Q31 PID Control. |
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| 50 | * @param[in,out] *S points to an instance of the Q31 PID structure. |
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| 51 | * @param[in] resetStateFlag flag to reset the state. 0 = no change in state 1 = reset the state. |
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| 52 | * @return none. |
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| 53 | * \par Description: |
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| 54 | * \par |
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| 55 | * The <code>resetStateFlag</code> specifies whether to set state to zero or not. \n |
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| 56 | * The function computes the structure fields: <code>A0</code>, <code>A1</code> <code>A2</code> |
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| 57 | * using the proportional gain( \c Kp), integral gain( \c Ki) and derivative gain( \c Kd) |
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| 58 | * also sets the state variables to all zeros. |
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| 59 | */ |
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| 60 | |||
| 61 | void arm_pid_init_q31( |
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| 62 | arm_pid_instance_q31 * S, |
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| 63 | int32_t resetStateFlag) |
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| 64 | { |
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| 65 | |||
| 66 | #ifndef ARM_MATH_CM0_FAMILY |
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| 67 | |||
| 68 | /* Run the below code for Cortex-M4 and Cortex-M3 */ |
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| 69 | |||
| 70 | /* Derived coefficient A0 */ |
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| 71 | S->A0 = __QADD(__QADD(S->Kp, S->Ki), S->Kd); |
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| 72 | |||
| 73 | /* Derived coefficient A1 */ |
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| 74 | S->A1 = -__QADD(__QADD(S->Kd, S->Kd), S->Kp); |
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| 75 | |||
| 76 | |||
| 77 | #else |
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| 78 | |||
| 79 | /* Run the below code for Cortex-M0 */ |
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| 80 | |||
| 81 | q31_t temp; |
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| 82 | |||
| 83 | /* Derived coefficient A0 */ |
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| 84 | temp = clip_q63_to_q31((q63_t) S->Kp + S->Ki); |
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| 85 | S->A0 = clip_q63_to_q31((q63_t) temp + S->Kd); |
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| 86 | |||
| 87 | /* Derived coefficient A1 */ |
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| 88 | temp = clip_q63_to_q31((q63_t) S->Kd + S->Kd); |
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| 89 | S->A1 = -clip_q63_to_q31((q63_t) temp + S->Kp); |
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| 90 | |||
| 91 | #endif /* #ifndef ARM_MATH_CM0_FAMILY */ |
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| 92 | |||
| 93 | /* Derived coefficient A2 */ |
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| 94 | S->A2 = S->Kd; |
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| 95 | |||
| 96 | /* Check whether state needs reset or not */ |
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| 97 | if(resetStateFlag) |
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| 98 | { |
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| 99 | /* Clear the state buffer. The size will be always 3 samples */ |
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| 100 | memset(S->state, 0, 3u * sizeof(q31_t)); |
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| 101 | } |
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| 102 | |||
| 103 | } |
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| 104 | |||
| 105 | /** |
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| 106 | * @} end of PID group |
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| 107 | */ |