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  1. /* ----------------------------------------------------------------------    
  2. * Copyright (C) 2010-2014 ARM Limited. All rights reserved.    
  3. *    
  4. * $Date:        19. March 2015
  5. * $Revision:    V.1.4.5
  6. *    
  7. * Project:          CMSIS DSP Library    
  8. * Title:            arm_pid_init_q31.c    
  9. *    
  10. * Description:  Q31 PID Control initialization function    
  11. *    
  12. * Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
  13. *  
  14. * Redistribution and use in source and binary forms, with or without
  15. * modification, are permitted provided that the following conditions
  16. * are met:
  17. *   - Redistributions of source code must retain the above copyright
  18. *     notice, this list of conditions and the following disclaimer.
  19. *   - Redistributions in binary form must reproduce the above copyright
  20. *     notice, this list of conditions and the following disclaimer in
  21. *     the documentation and/or other materials provided with the
  22. *     distribution.
  23. *   - Neither the name of ARM LIMITED nor the names of its contributors
  24. *     may be used to endorse or promote products derived from this
  25. *     software without specific prior written permission.
  26. *
  27. * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
  28. * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
  29. * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
  30. * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
  31. * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
  32. * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
  33. * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
  34. * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
  35. * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
  36. * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
  37. * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  38. * POSSIBILITY OF SUCH DAMAGE.  
  39. * ------------------------------------------------------------------- */
  40.  
  41. #include "arm_math.h"
  42.  
  43.  /**    
  44.  * @addtogroup PID    
  45.  * @{    
  46.  */
  47.  
  48. /**    
  49.  * @brief  Initialization function for the Q31 PID Control.  
  50.  * @param[in,out] *S points to an instance of the Q31 PID structure.  
  51.  * @param[in]     resetStateFlag  flag to reset the state. 0 = no change in state 1 = reset the state.  
  52.  * @return none.    
  53.  * \par Description:  
  54.  * \par    
  55.  * The <code>resetStateFlag</code> specifies whether to set state to zero or not. \n  
  56.  * The function computes the structure fields: <code>A0</code>, <code>A1</code> <code>A2</code>    
  57.  * using the proportional gain( \c Kp), integral gain( \c Ki) and derivative gain( \c Kd)    
  58.  * also sets the state variables to all zeros.    
  59.  */
  60.  
  61. void arm_pid_init_q31(
  62.   arm_pid_instance_q31 * S,
  63.   int32_t resetStateFlag)
  64. {
  65.  
  66. #ifndef ARM_MATH_CM0_FAMILY
  67.  
  68.   /* Run the below code for Cortex-M4 and Cortex-M3 */
  69.  
  70.   /* Derived coefficient A0 */
  71.   S->A0 = __QADD(__QADD(S->Kp, S->Ki), S->Kd);
  72.  
  73.   /* Derived coefficient A1 */
  74.   S->A1 = -__QADD(__QADD(S->Kd, S->Kd), S->Kp);
  75.  
  76.  
  77. #else
  78.  
  79.   /* Run the below code for Cortex-M0 */
  80.  
  81.   q31_t temp;
  82.  
  83.   /* Derived coefficient A0 */
  84.   temp = clip_q63_to_q31((q63_t) S->Kp + S->Ki);
  85.   S->A0 = clip_q63_to_q31((q63_t) temp + S->Kd);
  86.  
  87.   /* Derived coefficient A1 */
  88.   temp = clip_q63_to_q31((q63_t) S->Kd + S->Kd);
  89.   S->A1 = -clip_q63_to_q31((q63_t) temp + S->Kp);
  90.  
  91. #endif /* #ifndef ARM_MATH_CM0_FAMILY */
  92.  
  93.   /* Derived coefficient A2 */
  94.   S->A2 = S->Kd;
  95.  
  96.   /* Check whether state needs reset or not */
  97.   if(resetStateFlag)
  98.   {
  99.     /* Clear the state buffer.  The size will be always 3 samples */
  100.     memset(S->state, 0, 3u * sizeof(q31_t));
  101.   }
  102.  
  103. }
  104.  
  105. /**    
  106.  * @} end of PID group    
  107.  */
  108.