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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 2 | mjames | 1 | #include "ref.h" |
| 2 | |||
| 3 | float32_t ref_pid_f32( |
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| 4 | arm_pid_instance_f32 * S, |
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| 5 | float32_t in) |
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| 6 | { |
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| 7 | float32_t out; |
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| 8 | |||
| 9 | /* y[n] = y[n-1] + A0 * x[n] + A1 * x[n-1] + A2 * x[n-2] */ |
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| 10 | out = S->state[2] + S->A0 * in + S->A1 * S->state[0] + S->A2 * S->state[1]; |
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| 11 | |||
| 12 | /* Update state */ |
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| 13 | S->state[1] = S->state[0]; |
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| 14 | S->state[0] = in; |
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| 15 | S->state[2] = out; |
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| 16 | |||
| 17 | /* return to application */ |
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| 18 | return (out); |
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| 19 | } |
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| 20 | |||
| 21 | q31_t ref_pid_q31( |
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| 22 | arm_pid_instance_q31 * S, |
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| 23 | q31_t in) |
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| 24 | { |
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| 25 | q63_t acc; |
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| 26 | q31_t out; |
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| 27 | |||
| 28 | /* acc = A0 * x[n] */ |
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| 29 | acc = (q63_t) S->A0 * in; |
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| 30 | |||
| 31 | /* acc += A1 * x[n-1] */ |
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| 32 | acc += (q63_t) S->A1 * S->state[0]; |
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| 33 | |||
| 34 | /* acc += A2 * x[n-2] */ |
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| 35 | acc += (q63_t) S->A2 * S->state[1]; |
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| 36 | |||
| 37 | /* convert output to 1.31 format to add y[n-1] */ |
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| 38 | out = (q31_t) (acc >> 31U); |
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| 39 | |||
| 40 | /* out += y[n-1] */ |
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| 41 | out += S->state[2]; |
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| 42 | |||
| 43 | /* Update state */ |
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| 44 | S->state[1] = S->state[0]; |
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| 45 | S->state[0] = in; |
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| 46 | S->state[2] = out; |
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| 47 | |||
| 48 | /* return to application */ |
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| 49 | return (out); |
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| 50 | } |
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| 51 | |||
| 52 | q15_t ref_pid_q15( |
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| 53 | arm_pid_instance_q15 * S, |
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| 54 | q15_t in) |
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| 55 | { |
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| 56 | q63_t acc; |
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| 57 | q15_t out; |
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| 58 | q15_t A1, A2; |
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| 59 | |||
| 60 | #if defined (ARM_MATH_DSP) |
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| 61 | |||
| 62 | #ifndef ARM_MATH_BIG_ENDIAN |
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| 63 | A2 = S->A1 >> 16; |
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| 64 | A1 = (q15_t)S->A1; |
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| 65 | #else |
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| 66 | A1 = S->A1 >> 16; |
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| 67 | A2 = (q15_t)S->A1; |
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| 68 | #endif |
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| 69 | |||
| 70 | #else |
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| 71 | |||
| 72 | A1 = S->A1; |
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| 73 | A2 = S->A2; |
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| 74 | |||
| 75 | #endif |
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| 76 | |||
| 77 | /* acc = A0 * x[n] */ |
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| 78 | acc = ((q31_t) S->A0) * in; |
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| 79 | |||
| 80 | /* acc += A1 * x[n-1] + A2 * x[n-2] */ |
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| 81 | acc += (q31_t) A1 * S->state[0]; |
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| 82 | acc += (q31_t) A2 * S->state[1]; |
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| 83 | |||
| 84 | /* acc += y[n-1] */ |
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| 85 | acc += (q31_t) S->state[2] << 15; |
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| 86 | |||
| 87 | /* saturate the output */ |
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| 88 | out = ref_sat_q15(acc >> 15); |
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| 89 | |||
| 90 | /* Update state */ |
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| 91 | S->state[1] = S->state[0]; |
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| 92 | S->state[0] = in; |
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| 93 | S->state[2] = out; |
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| 94 | |||
| 95 | /* return to application */ |
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| 96 | return (out); |
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| 97 | } |