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git.gir.st - tmk_keyboard.git/blob - tmk_core/tool/mbed/mbed-sdk/libraries/dsp/cmsis_dsp/ControllerFunctions/arm_pid_init_f32.c
1 /* ----------------------------------------------------------------------
2 * Copyright (C) 2010-2013 ARM Limited. All rights reserved.
4 * $Date: 17. January 2013
7 * Project: CMSIS DSP Library
8 * Title: arm_pid_init_f32.c
10 * Description: Floating-point PID Control initialization function
13 * Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
15 * Redistribution and use in source and binary forms, with or without
16 * modification, are permitted provided that the following conditions
18 * - Redistributions of source code must retain the above copyright
19 * notice, this list of conditions and the following disclaimer.
20 * - Redistributions in binary form must reproduce the above copyright
21 * notice, this list of conditions and the following disclaimer in
22 * the documentation and/or other materials provided with the
24 * - Neither the name of ARM LIMITED nor the names of its contributors
25 * may be used to endorse or promote products derived from this
26 * software without specific prior written permission.
28 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
29 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
30 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
31 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
32 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
33 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
34 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
35 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
36 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
37 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
38 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
39 * POSSIBILITY OF SUCH DAMAGE.
40 * ------------------------------------------------------------------- */
50 * @brief Initialization function for the floating-point PID Control.
51 * @param[in,out] *S points to an instance of the PID structure.
52 * @param[in] resetStateFlag flag to reset the state. 0 = no change in state & 1 = reset the state.
56 * The <code>resetStateFlag</code> specifies whether to set state to zero or not. \n
57 * The function computes the structure fields: <code>A0</code>, <code>A1</code> <code>A2</code>
58 * using the proportional gain( \c Kp), integral gain( \c Ki) and derivative gain( \c Kd)
59 * also sets the state variables to all zeros.
62 void arm_pid_init_f32(
63 arm_pid_instance_f32
* S
,
64 int32_t resetStateFlag
)
67 /* Derived coefficient A0 */
68 S
->A0
= S
->Kp
+ S
->Ki
+ S
->Kd
;
70 /* Derived coefficient A1 */
71 S
->A1
= (-S
->Kp
) - ((float32_t
) 2.0 * S
->Kd
);
73 /* Derived coefficient A2 */
76 /* Check whether state needs reset or not */
79 /* Clear the state buffer. The size will be always 3 samples */
80 memset(S
->state
, 0, 3u * sizeof(float32_t
));