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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_f32.c |
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| 9 | * |
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| 10 | * Description: Floating-point PID Control initialization function |
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| 11 | * |
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| 12 | * |
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| 13 | * Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 |
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| 14 | * |
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| 15 | * Redistribution and use in source and binary forms, with or without |
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| 16 | * modification, are permitted provided that the following conditions |
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| 17 | * are met: |
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| 18 | * - Redistributions of source code must retain the above copyright |
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| 19 | * notice, this list of conditions and the following disclaimer. |
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| 20 | * - Redistributions in binary form must reproduce the above copyright |
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| 21 | * notice, this list of conditions and the following disclaimer in |
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| 22 | * the documentation and/or other materials provided with the |
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| 23 | * distribution. |
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| 24 | * - Neither the name of ARM LIMITED nor the names of its contributors |
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| 25 | * may be used to endorse or promote products derived from this |
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| 26 | * software without specific prior written permission. |
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| 27 | * |
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| 28 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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| 29 | * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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| 30 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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| 31 | * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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| 32 | * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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| 33 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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| 34 | * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; |
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| 35 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
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| 36 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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| 37 | * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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| 38 | * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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| 39 | * POSSIBILITY OF SUCH DAMAGE. |
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| 40 | * ------------------------------------------------------------------- */ |
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| 41 | |||
| 42 | #include "arm_math.h" |
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| 43 | |||
| 44 | /** |
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| 45 | * @addtogroup PID |
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| 46 | * @{ |
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| 47 | */ |
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| 48 | |||
| 49 | /** |
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| 50 | * @brief Initialization function for the floating-point PID Control. |
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| 51 | * @param[in,out] *S points to an instance of the PID structure. |
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| 52 | * @param[in] resetStateFlag flag to reset the state. 0 = no change in state & 1 = reset the state. |
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| 53 | * @return none. |
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| 54 | * \par Description: |
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| 55 | * \par |
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| 56 | * The <code>resetStateFlag</code> specifies whether to set state to zero or not. \n |
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| 57 | * The function computes the structure fields: <code>A0</code>, <code>A1</code> <code>A2</code> |
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| 58 | * using the proportional gain( \c Kp), integral gain( \c Ki) and derivative gain( \c Kd) |
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| 59 | * also sets the state variables to all zeros. |
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| 60 | */ |
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| 61 | |||
| 62 | void arm_pid_init_f32( |
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| 63 | arm_pid_instance_f32 * S, |
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| 64 | int32_t resetStateFlag) |
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| 65 | { |
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| 66 | |||
| 67 | /* Derived coefficient A0 */ |
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| 68 | S->A0 = S->Kp + S->Ki + S->Kd; |
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| 69 | |||
| 70 | /* Derived coefficient A1 */ |
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| 71 | S->A1 = (-S->Kp) - ((float32_t) 2.0 * S->Kd); |
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| 72 | |||
| 73 | /* Derived coefficient A2 */ |
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| 74 | S->A2 = S->Kd; |
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| 75 | |||
| 76 | /* Check whether state needs reset or not */ |
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| 77 | if(resetStateFlag) |
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| 78 | { |
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| 79 | /* Clear the state buffer. The size will be always 3 samples */ |
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| 80 | memset(S->state, 0, 3u * sizeof(float32_t)); |
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| 81 | } |
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| 82 | |||
| 83 | } |
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| 84 | |||
| 85 | /** |
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| 86 | * @} end of PID group |
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| 87 | */ |