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93 lines
2.7 KiB
C
93 lines
2.7 KiB
C
/* ----------------------------------------------------------------------
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* Project: CMSIS DSP Library
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* Title: arm_pid_init_q31.c
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* Description: Q31 PID Control initialization function
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*
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* $Date: 23 April 2021
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* $Revision: V1.9.0
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*
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* Target Processor: Cortex-M and Cortex-A cores
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* -------------------------------------------------------------------- */
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/*
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* Copyright (C) 2010-2021 ARM Limited or its affiliates. All rights reserved.
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*
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* SPDX-License-Identifier: Apache-2.0
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*
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* Licensed under the Apache License, Version 2.0 (the License); you may
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* not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an AS IS BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include "dsp/controller_functions.h"
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/**
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@addtogroup PID
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@{
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*/
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/**
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@brief Initialization function for the Q31 PID Control.
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@param[in,out] S points to an instance of the Q31 PID structure
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@param[in] resetStateFlag
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- value = 0: no change in state
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- value = 1: reset state
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@return none
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@par Details
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The <code>resetStateFlag</code> specifies whether to set state to zero or not. \n
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The function computes the structure fields: <code>A0</code>, <code>A1</code> <code>A2</code>
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using the proportional gain( \c Kp), integral gain( \c Ki) and derivative gain( \c Kd)
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also sets the state variables to all zeros.
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*/
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void arm_pid_init_q31(
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arm_pid_instance_q31 * S,
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int32_t resetStateFlag)
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{
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#if defined (ARM_MATH_DSP)
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/* Derived coefficient A0 */
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S->A0 = __QADD(__QADD(S->Kp, S->Ki), S->Kd);
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/* Derived coefficient A1 */
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S->A1 = -__QADD(__QADD(S->Kd, S->Kd), S->Kp);
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#else
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q31_t temp; /* to store the sum */
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/* Derived coefficient A0 */
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temp = clip_q63_to_q31((q63_t) S->Kp + S->Ki);
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S->A0 = clip_q63_to_q31((q63_t) temp + S->Kd);
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/* Derived coefficient A1 */
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temp = clip_q63_to_q31((q63_t) S->Kd + S->Kd);
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S->A1 = -clip_q63_to_q31((q63_t) temp + S->Kp);
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#endif /* #if defined (ARM_MATH_DSP) */
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/* Derived coefficient A2 */
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S->A2 = S->Kd;
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/* Check whether state needs reset or not */
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if (resetStateFlag)
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{
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/* Reset state to zero, The size will be always 3 samples */
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memset(S->state, 0, 3U * sizeof(q31_t));
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}
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}
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/**
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@} end of PID group
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*/
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