Diff: src/Cortex-M4-M3/ControllerFunctions/arm_pid_init_q31.c

Revision:

0:1014af42efd9

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/src/Cortex-M4-M3/ControllerFunctions/arm_pid_init_q31.c	Thu Mar 10 15:07:50 2011 +0000
@@ -0,0 +1,71 @@
+/* ----------------------------------------------------------------------  
+* Copyright (C) 2010 ARM Limited. All rights reserved.  
+*  
+* $Date:        29. November 2010  
+* $Revision: 	V1.0.3  
+*  
+* Project: 	    CMSIS DSP Library  
+* Title:	    arm_pid_init_q31.c  
+*  
+* Description:	Q31 PID Control initialization function   
+*  
+* Target Processor: Cortex-M4/Cortex-M3
+*  
+* Version 1.0.3 2010/11/29 
+*    Re-organized the CMSIS folders and updated documentation.  
+*   
+* Version 1.0.2 2010/11/11  
+*    Documentation updated.   
+*  
+* Version 1.0.1 2010/10/05   
+*    Production release and review comments incorporated.  
+*  
+* Version 1.0.0 2010/09/20   
+*    Production release and review comments incorporated.  
+* ------------------------------------------------------------------- */ 
+ 
+#include "arm_math.h" 
+ 
+ /**  
+ * @addtogroup PID  
+ * @{  
+ */ 
+ 
+/**  
+ * @brief  Initialization function for the Q31 PID Control. 
+ * @param[in,out] *S points to an instance of the Q31 PID structure. 
+ * @param[in]     resetStateFlag  flag to reset the state. 0 = no change in state 1 = reset the state. 
+ * @return none.  
+ * \par Description: 
+ * \par  
+ * The <code>resetStateFlag</code> specifies whether to set state to zero or not. \n 
+ * The function computes the structure fields: <code>A0</code>, <code>A1</code> <code>A2</code>  
+ * using the proportional gain( \c Kp), integral gain( \c Ki) and derivative gain( \c Kd)  
+ * also sets the state variables to all zeros.  
+ */  
+  
+void arm_pid_init_q31(  
+  arm_pid_instance_q31 * S,  
+  int32_t resetStateFlag) 
+{  
+  /* Derived coefficient A0 */  
+  S->A0 = __QADD(__QADD(S->Kp, S->Ki), S->Kd);  
+  
+  /* Derived coefficient A1 */  
+  S->A1 = -__QADD(__QADD(S->Kd, S->Kd), S->Kp);  
+  
+  /* Derived coefficient A2 */  
+  S->A2 = S->Kd;  
+  
+  /* Check whether state needs reset or not */  
+  if(resetStateFlag) 
+  {  
+    /* Clear the state buffer.  The size will be always 3 samples */  
+    memset(S->state, 0, 3u * sizeof(q31_t));  
+  }  
+  
+}  
+  
+/**  
+ * @} end of PID group  
+ */