| /* ---------------------------------------------------------------------- |
| * Copyright (C) 2010-2014 ARM Limited. All rights reserved. |
| * |
| * $Date: 19. March 2015 |
| * $Revision: V.1.4.5 |
| * |
| * Project: CMSIS DSP Library |
| * Title: arm_pid_init_q15.c |
| * |
| * Description: Q15 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 |
| * @{ |
| */ |
| |
| /** |
| * @details |
| * @param[in,out] *S points to an instance of the Q15 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_q15( |
| arm_pid_instance_q15 * S, |
| int32_t resetStateFlag) |
| { |
| |
| #ifndef ARM_MATH_CM0_FAMILY |
| |
| /* Run the below code for Cortex-M4 and Cortex-M3 */ |
| |
| /* Derived coefficient A0 */ |
| S->A0 = __QADD16(__QADD16(S->Kp, S->Ki), S->Kd); |
| |
| /* Derived coefficients and pack into A1 */ |
| |
| #ifndef ARM_MATH_BIG_ENDIAN |
| |
| S->A1 = __PKHBT(-__QADD16(__QADD16(S->Kd, S->Kd), S->Kp), S->Kd, 16); |
| |
| #else |
| |
| S->A1 = __PKHBT(S->Kd, -__QADD16(__QADD16(S->Kd, S->Kd), S->Kp), 16); |
| |
| #endif /* #ifndef ARM_MATH_BIG_ENDIAN */ |
| |
| /* 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(q15_t)); |
| } |
| |
| #else |
| |
| /* Run the below code for Cortex-M0 */ |
| |
| q31_t temp; /*to store the sum */ |
| |
| /* Derived coefficient A0 */ |
| temp = S->Kp + S->Ki + S->Kd; |
| S->A0 = (q15_t) __SSAT(temp, 16); |
| |
| /* Derived coefficients and pack into A1 */ |
| temp = -(S->Kd + S->Kd + S->Kp); |
| S->A1 = (q15_t) __SSAT(temp, 16); |
| 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(q15_t)); |
| } |
| |
| #endif /* #ifndef ARM_MATH_CM0_FAMILY */ |
| |
| } |
| |
| /** |
| * @} end of PID group |
| */ |