00001 /* ---------------------------------------------------------------------- 00002 * Copyright (C) 2010 ARM Limited. All rights reserved. 00003 * 00004 * $Date: 15. July 2011 00005 * $Revision: V1.0.10 00006 * 00007 * Project: CMSIS DSP Library 00008 * Title: arm_pid_init_q31.c 00009 * 00010 * Description: Q31 PID Control initialization function 00011 * 00012 * Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 00013 * 00014 * Version 1.0.10 2011/7/15 00015 * Big Endian support added and Merged M0 and M3/M4 Source code. 00016 * 00017 * Version 1.0.3 2010/11/29 00018 * Re-organized the CMSIS folders and updated documentation. 00019 * 00020 * Version 1.0.2 2010/11/11 00021 * Documentation updated. 00022 * 00023 * Version 1.0.1 2010/10/05 00024 * Production release and review comments incorporated. 00025 * 00026 * Version 1.0.0 2010/09/20 00027 * Production release and review comments incorporated. 00028 * ------------------------------------------------------------------- */ 00029 00030 #include "arm_math.h" 00031 00050 void arm_pid_init_q31( 00051 arm_pid_instance_q31 * S, 00052 int32_t resetStateFlag) 00053 { 00054 00055 #ifndef ARM_MATH_CM0 00056 00057 /* Run the below code for Cortex-M4 and Cortex-M3 */ 00058 00059 /* Derived coefficient A0 */ 00060 S->A0 = __QADD(__QADD(S->Kp, S->Ki), S->Kd); 00061 00062 /* Derived coefficient A1 */ 00063 S->A1 = -__QADD(__QADD(S->Kd, S->Kd), S->Kp); 00064 00065 00066 #else 00067 00068 /* Run the below code for Cortex-M0 */ 00069 00070 q31_t temp; 00071 00072 /* Derived coefficient A0 */ 00073 temp = clip_q63_to_q31((q63_t) S->Kp + S->Ki); 00074 S->A0 = clip_q63_to_q31((q63_t) temp + S->Kd); 00075 00076 /* Derived coefficient A1 */ 00077 temp = clip_q63_to_q31((q63_t) S->Kd + S->Kd); 00078 S->A1 = -clip_q63_to_q31((q63_t) temp + S->Kp); 00079 00080 #endif /* #ifndef ARM_MATH_CM0 */ 00081 00082 /* Derived coefficient A2 */ 00083 S->A2 = S->Kd; 00084 00085 /* Check whether state needs reset or not */ 00086 if(resetStateFlag) 00087 { 00088 /* Clear the state buffer. The size will be always 3 samples */ 00089 memset(S->state, 0, 3u * sizeof(q31_t)); 00090 } 00091 00092 } 00093