diff options
Diffstat (limited to 'tmk_core/tool/mbed/mbed-sdk/libraries/dsp/cmsis_dsp/ControllerFunctions/arm_pid_init_f32.c')
-rw-r--r-- | tmk_core/tool/mbed/mbed-sdk/libraries/dsp/cmsis_dsp/ControllerFunctions/arm_pid_init_f32.c | 87 |
1 files changed, 0 insertions, 87 deletions
diff --git a/tmk_core/tool/mbed/mbed-sdk/libraries/dsp/cmsis_dsp/ControllerFunctions/arm_pid_init_f32.c b/tmk_core/tool/mbed/mbed-sdk/libraries/dsp/cmsis_dsp/ControllerFunctions/arm_pid_init_f32.c deleted file mode 100644 index cc1fc99a0d..0000000000 --- a/tmk_core/tool/mbed/mbed-sdk/libraries/dsp/cmsis_dsp/ControllerFunctions/arm_pid_init_f32.c +++ /dev/null @@ -1,87 +0,0 @@ -/* ---------------------------------------------------------------------- -* Copyright (C) 2010-2013 ARM Limited. All rights reserved. -* -* $Date: 17. January 2013 -* $Revision: V1.4.1 -* -* Project: CMSIS DSP Library -* Title: arm_pid_init_f32.c -* -* Description: Floating-point PID Control initialization function -* -* -* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 -* -* Redistribution and use in source and binary forms, with or without -* modification, are permitted provided that the following conditions -* are met: -* - Redistributions of source code must retain the above copyright -* notice, this list of conditions and the following disclaimer. -* - Redistributions in binary form must reproduce the above copyright -* notice, this list of conditions and the following disclaimer in -* the documentation and/or other materials provided with the -* distribution. -* - Neither the name of ARM LIMITED nor the names of its contributors -* may be used to endorse or promote products derived from this -* software without specific prior written permission. -* -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -* POSSIBILITY OF SUCH DAMAGE. -* ------------------------------------------------------------------- */ - -#include "arm_math.h" - - /** - * @addtogroup PID - * @{ - */ - -/** - * @brief Initialization function for the floating-point PID Control. - * @param[in,out] *S points to an instance of the PID structure. - * @param[in] resetStateFlag flag to reset the state. 0 = no change in state & 1 = reset the state. - * @return none. - * \par Description: - * \par - * The <code>resetStateFlag</code> specifies whether to set state to zero or not. \n - * The function computes the structure fields: <code>A0</code>, <code>A1</code> <code>A2</code> - * using the proportional gain( \c Kp), integral gain( \c Ki) and derivative gain( \c Kd) - * also sets the state variables to all zeros. - */ - -void arm_pid_init_f32( - arm_pid_instance_f32 * S, - int32_t resetStateFlag) -{ - - /* Derived coefficient A0 */ - S->A0 = S->Kp + S->Ki + S->Kd; - - /* Derived coefficient A1 */ - S->A1 = (-S->Kp) - ((float32_t) 2.0 * S->Kd); - - /* Derived coefficient A2 */ - S->A2 = S->Kd; - - /* Check whether state needs reset or not */ - if(resetStateFlag) - { - /* Clear the state buffer. The size will be always 3 samples */ - memset(S->state, 0, 3u * sizeof(float32_t)); - } - -} - -/** - * @} end of PID group - */ |