tmk_core/tool/mbed/mbed-sdk/libraries/dsp/cmsis_dsp/ControllerFunctions/arm_pid_init_q15.c

   1 /* ----------------------------------------------------------------------
   2 * Copyright (C) 2010-2013 ARM Limited. All rights reserved.
   3 *
   4 * $Date:        17. January 2013
   5 * $Revision:    V1.4.1
   6 *
   7 * Project:          CMSIS DSP Library
   8 * Title:            arm_pid_init_q15.c
   9 *
  10 * Description:  Q15 PID Control initialization function
  11 *
  12 * Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
  13 *
  14 * Redistribution and use in source and binary forms, with or without
  15 * modification, are permitted provided that the following conditions
  16 * are met:
  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
  22 *     distribution.
  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.
  26 *
  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 * -------------------------------------------------------------------- */
  40
  41 #include "arm_math.h"
  42
  43  /**
  44  * @addtogroup PID
  45  * @{
  46  */
  47
  48 /**
  49  * @details
  50  * @param[in,out] *S points to an instance of the Q15 PID structure.
  51  * @param[in]     resetStateFlag  flag to reset the state. 0 = no change in state 1 = reset the state.
  52  * @return none.
  53  * \par Description:
  54  * \par
  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.
  59  */
  60
  61 void arm_pid_init_q15(
  62   arm_pid_instance_q15 * S,
  63   int32_t resetStateFlag)
  64 {
  65
  66 #ifndef ARM_MATH_CM0_FAMILY
  67
  68   /* Run the below code for Cortex-M4 and Cortex-M3 */
  69
  70   /* Derived coefficient A0 */
  71   S->A0 = __QADD16(__QADD16(S->Kp, S->Ki), S->Kd);
  72
  73   /* Derived coefficients and pack into A1 */
  74
  75 #ifndef  ARM_MATH_BIG_ENDIAN
  76
  77   S->A1 = __PKHBT(-__QADD16(__QADD16(S->Kd, S->Kd), S->Kp), S->Kd, 16);
  78
  79 #else
  80
  81   S->A1 = __PKHBT(S->Kd, -__QADD16(__QADD16(S->Kd, S->Kd), S->Kp), 16);
  82
  83 #endif /*      #ifndef  ARM_MATH_BIG_ENDIAN    */
  84
  85   /* Check whether state needs reset or not */
  86   if(resetStateFlag)
  87   {
  88     /* Clear the state buffer.  The size will be always 3 samples */
  89     memset(S->state, 0, 3u * sizeof(q15_t));
  90   }
  91
  92 #else
  93
  94   /* Run the below code for Cortex-M0 */
  95
  96   q31_t temp;                                    /*to store the sum */
  97
  98   /* Derived coefficient A0 */
  99   temp = S->Kp + S->Ki + S->Kd;
 100   S->A0 = (q15_t) __SSAT(temp, 16);
 101
 102   /* Derived coefficients and pack into A1 */
 103   temp = -(S->Kd + S->Kd + S->Kp);
 104   S->A1 = (q15_t) __SSAT(temp, 16);
 105   S->A2 = S->Kd;
 106
 107
 108
 109   /* Check whether state needs reset or not */
 110   if(resetStateFlag)
 111   {
 112     /* Clear the state buffer.  The size will be always 3 samples */
 113     memset(S->state, 0, 3u * sizeof(q15_t));
 114   }
 115
 116 #endif /* #ifndef ARM_MATH_CM0_FAMILY */
 117
 118 }
 119
 120 /**
 121  * @} end of PID group
 122  */