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