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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_q31.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_q31.c
10 * Description: Q31 PID Control initialization function
12 * Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
14 * Redistribution and use in source and binary forms, with or without
15 * modification, are permitted provided that the following conditions
17 * - Redistributions of source code must retain the above copyright
18 * notice, this list of conditions and the following disclaimer.
19 * - Redistributions in binary form must reproduce the above copyright
20 * notice, this list of conditions and the following disclaimer in
21 * the documentation and/or other materials provided with the
23 * - Neither the name of ARM LIMITED nor the names of its contributors
24 * may be used to endorse or promote products derived from this
25 * software without specific prior written permission.
27 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
28 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
29 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
30 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
31 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
32 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
33 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
34 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
35 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
36 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
37 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
38 * POSSIBILITY OF SUCH DAMAGE.
39 * ------------------------------------------------------------------- */
49 * @brief Initialization function for the Q31 PID Control.
50 * @param[in,out] *S points to an instance of the Q31 PID structure.
51 * @param[in] resetStateFlag flag to reset the state. 0 = no change in state 1 = reset the state.
55 * The <code>resetStateFlag</code> specifies whether to set state to zero or not. \n
56 * The function computes the structure fields: <code>A0</code>, <code>A1</code> <code>A2</code>
57 * using the proportional gain( \c Kp), integral gain( \c Ki) and derivative gain( \c Kd)
58 * also sets the state variables to all zeros.
61 void arm_pid_init_q31(
62 arm_pid_instance_q31
* S
,
63 int32_t resetStateFlag
)
66 #ifndef ARM_MATH_CM0_FAMILY
68 /* Run the below code for Cortex-M4 and Cortex-M3 */
70 /* Derived coefficient A0 */
71 S
->A0
= __QADD(__QADD(S
->Kp
, S
->Ki
), S
->Kd
);
73 /* Derived coefficient A1 */
74 S
->A1
= -__QADD(__QADD(S
->Kd
, S
->Kd
), S
->Kp
);
79 /* Run the below code for Cortex-M0 */
83 /* Derived coefficient A0 */
84 temp
= clip_q63_to_q31((q63_t
) S
->Kp
+ S
->Ki
);
85 S
->A0
= clip_q63_to_q31((q63_t
) temp
+ S
->Kd
);
87 /* Derived coefficient A1 */
88 temp
= clip_q63_to_q31((q63_t
) S
->Kd
+ S
->Kd
);
89 S
->A1
= -clip_q63_to_q31((q63_t
) temp
+ S
->Kp
);
91 #endif /* #ifndef ARM_MATH_CM0_FAMILY */
93 /* Derived coefficient A2 */
96 /* Check whether state needs reset or not */
99 /* Clear the state buffer. The size will be always 3 samples */
100 memset(S
->state
, 0, 3u * sizeof(q31_t
));
106 * @} end of PID group