diff options
Diffstat (limited to 'tmk_core/tool/mbed/mbed-sdk/libraries/dsp/cmsis_dsp/ControllerFunctions/arm_pid_init_q31.c')
-rw-r--r-- | tmk_core/tool/mbed/mbed-sdk/libraries/dsp/cmsis_dsp/ControllerFunctions/arm_pid_init_q31.c | 107 |
1 files changed, 107 insertions, 0 deletions
diff --git a/tmk_core/tool/mbed/mbed-sdk/libraries/dsp/cmsis_dsp/ControllerFunctions/arm_pid_init_q31.c b/tmk_core/tool/mbed/mbed-sdk/libraries/dsp/cmsis_dsp/ControllerFunctions/arm_pid_init_q31.c new file mode 100644 index 0000000000..b492cf79ff --- /dev/null +++ b/tmk_core/tool/mbed/mbed-sdk/libraries/dsp/cmsis_dsp/ControllerFunctions/arm_pid_init_q31.c @@ -0,0 +1,107 @@ +/* ---------------------------------------------------------------------- +* 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_q31.c +* +* Description: Q31 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 Q31 PID Control. + * @param[in,out] *S points to an instance of the Q31 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_q31( + arm_pid_instance_q31 * S, + int32_t resetStateFlag) +{ + +#ifndef ARM_MATH_CM0_FAMILY + + /* Run the below code for Cortex-M4 and Cortex-M3 */ + + /* Derived coefficient A0 */ + S->A0 = __QADD(__QADD(S->Kp, S->Ki), S->Kd); + + /* Derived coefficient A1 */ + S->A1 = -__QADD(__QADD(S->Kd, S->Kd), S->Kp); + + +#else + + /* Run the below code for Cortex-M0 */ + + q31_t temp; + + /* Derived coefficient A0 */ + temp = clip_q63_to_q31((q63_t) S->Kp + S->Ki); + S->A0 = clip_q63_to_q31((q63_t) temp + S->Kd); + + /* Derived coefficient A1 */ + temp = clip_q63_to_q31((q63_t) S->Kd + S->Kd); + S->A1 = -clip_q63_to_q31((q63_t) temp + S->Kp); + +#endif /* #ifndef ARM_MATH_CM0_FAMILY */ + + /* 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(q31_t)); + } + +} + +/** + * @} end of PID group + */ |