Simon Ford
CMSIS DSP Library from CMSIS 2.0. See http://www.onarm.com/cmsis/ for full details
Dependents: K22F_DSP_Matrix_least_square BNO055-ELEC3810 1BNO055 ECE4180Project--Slave2 ... more
src/Cortex-M4-M3/ControllerFunctions/arm_pid_init_q15.c@0:1014af42efd9, 2011-03-10 (annotated)
- Committer:
- simon
- Date:
- Thu Mar 10 15:07:50 2011 +0000
- Revision:
- 0:1014af42efd9
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| simon | 0:1014af42efd9 | 1 | /* ---------------------------------------------------------------------- |
| simon | 0:1014af42efd9 | 2 | * Copyright (C) 2010 ARM Limited. All rights reserved. |
| simon | 0:1014af42efd9 | 3 | * |
| simon | 0:1014af42efd9 | 4 | * $Date: 29. November 2010 |
| simon | 0:1014af42efd9 | 5 | * $Revision: V1.0.3 |
| simon | 0:1014af42efd9 | 6 | * |
| simon | 0:1014af42efd9 | 7 | * Project: CMSIS DSP Library |
| simon | 0:1014af42efd9 | 8 | * Title: arm_pid_init_q15.c |
| simon | 0:1014af42efd9 | 9 | * |
| simon | 0:1014af42efd9 | 10 | * Description: Q15 PID Control initialization function |
| simon | 0:1014af42efd9 | 11 | * |
| simon | 0:1014af42efd9 | 12 | * Target Processor: Cortex-M4/Cortex-M3 |
| simon | 0:1014af42efd9 | 13 | * |
| simon | 0:1014af42efd9 | 14 | * Version 1.0.3 2010/11/29 |
| simon | 0:1014af42efd9 | 15 | * Re-organized the CMSIS folders and updated documentation. |
| simon | 0:1014af42efd9 | 16 | * |
| simon | 0:1014af42efd9 | 17 | * Version 1.0.2 2010/11/11 |
| simon | 0:1014af42efd9 | 18 | * Documentation updated. |
| simon | 0:1014af42efd9 | 19 | * |
| simon | 0:1014af42efd9 | 20 | * Version 1.0.1 2010/10/05 |
| simon | 0:1014af42efd9 | 21 | * Production release and review comments incorporated. |
| simon | 0:1014af42efd9 | 22 | * |
| simon | 0:1014af42efd9 | 23 | * Version 1.0.0 2010/09/20 |
| simon | 0:1014af42efd9 | 24 | * Production release and review comments incorporated. |
| simon | 0:1014af42efd9 | 25 | * -------------------------------------------------------------------- */ |
| simon | 0:1014af42efd9 | 26 | |
| simon | 0:1014af42efd9 | 27 | #include "arm_math.h" |
| simon | 0:1014af42efd9 | 28 | |
| simon | 0:1014af42efd9 | 29 | /** |
| simon | 0:1014af42efd9 | 30 | * @addtogroup PID |
| simon | 0:1014af42efd9 | 31 | * @{ |
| simon | 0:1014af42efd9 | 32 | */ |
| simon | 0:1014af42efd9 | 33 | |
| simon | 0:1014af42efd9 | 34 | /** |
| simon | 0:1014af42efd9 | 35 | * @details |
| simon | 0:1014af42efd9 | 36 | * @param[in,out] *S points to an instance of the Q15 PID structure. |
| simon | 0:1014af42efd9 | 37 | * @param[in] resetStateFlag flag to reset the state. 0 = no change in state 1 = reset the state. |
| simon | 0:1014af42efd9 | 38 | * @return none. |
| simon | 0:1014af42efd9 | 39 | * \par Description: |
| simon | 0:1014af42efd9 | 40 | * \par |
| simon | 0:1014af42efd9 | 41 | * The <code>resetStateFlag</code> specifies whether to set state to zero or not. \n |
| simon | 0:1014af42efd9 | 42 | * The function computes the structure fields: <code>A0</code>, <code>A1</code> <code>A2</code> |
| simon | 0:1014af42efd9 | 43 | * using the proportional gain( \c Kp), integral gain( \c Ki) and derivative gain( \c Kd) |
| simon | 0:1014af42efd9 | 44 | * also sets the state variables to all zeros. |
| simon | 0:1014af42efd9 | 45 | */ |
| simon | 0:1014af42efd9 | 46 | |
| simon | 0:1014af42efd9 | 47 | void arm_pid_init_q15( |
| simon | 0:1014af42efd9 | 48 | arm_pid_instance_q15 * S, |
| simon | 0:1014af42efd9 | 49 | int32_t resetStateFlag) |
| simon | 0:1014af42efd9 | 50 | { |
| simon | 0:1014af42efd9 | 51 | /* Derived coefficient A0 */ |
| simon | 0:1014af42efd9 | 52 | S->A0 = __QADD16(__QADD16(S->Kp, S->Ki), S->Kd); |
| simon | 0:1014af42efd9 | 53 | |
| simon | 0:1014af42efd9 | 54 | /* Derived coefficients and pack into A1 */ |
| simon | 0:1014af42efd9 | 55 | S->A1 = __PKHBT(-__QADD16(__QADD16(S->Kd, S->Kd), S->Kp), S->Kd, 16); |
| simon | 0:1014af42efd9 | 56 | |
| simon | 0:1014af42efd9 | 57 | /* Check whether state needs reset or not */ |
| simon | 0:1014af42efd9 | 58 | if(resetStateFlag) |
| simon | 0:1014af42efd9 | 59 | { |
| simon | 0:1014af42efd9 | 60 | /* Clear the state buffer. The size will be always 3 samples */ |
| simon | 0:1014af42efd9 | 61 | memset(S->state, 0, 3u * sizeof(q15_t)); |
| simon | 0:1014af42efd9 | 62 | } |
| simon | 0:1014af42efd9 | 63 | |
| simon | 0:1014af42efd9 | 64 | } |
| simon | 0:1014af42efd9 | 65 | |
| simon | 0:1014af42efd9 | 66 | /** |
| simon | 0:1014af42efd9 | 67 | * @} end of PID group |
| simon | 0:1014af42efd9 | 68 | */ |