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