| /* ---------------------------------------------------------------------- |
| * Project: CMSIS DSP Library |
| * Title: arm_pid_init_q31.c |
| * Description: Q31 PID Control initialization function |
| * |
| * $Date: 27. January 2017 |
| * $Revision: V.1.5.1 |
| * |
| * Target Processor: Cortex-M cores |
| * -------------------------------------------------------------------- */ |
| /* |
| * Copyright (C) 2010-2017 ARM Limited or its affiliates. All rights reserved. |
| * |
| * SPDX-License-Identifier: Apache-2.0 |
| * |
| * Licensed under the Apache License, Version 2.0 (the License); you may |
| * not use this file except in compliance with the License. |
| * You may obtain a copy of the License at |
| * |
| * www.apache.org/licenses/LICENSE-2.0 |
| * |
| * Unless required by applicable law or agreed to in writing, software |
| * distributed under the License is distributed on an AS IS BASIS, WITHOUT |
| * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
| * See the License for the specific language governing permissions and |
| * limitations under the License. |
| */ |
| |
| #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) |
| { |
| |
| #if defined (ARM_MATH_DSP) |
| |
| /* 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 /* #if defined (ARM_MATH_DSP) */ |
| |
| /* 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 |
| */ |