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- /* ----------------------------------------------------------------------
- * Copyright (C) 2010-2014 ARM Limited. All rights reserved.
- *
- * $Date: 12. March 2014
- * $Revision: V1.4.4
- *
- * Project: CMSIS DSP Library
- * Title: arm_pid_init_q15.c
- *
- * Description: Q15 PID Control initialization function
- *
- * Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- * - Redistributions of source code must retain the above copyright
- * notice, this list of conditions and the following disclaimer.
- * - Redistributions in binary form must reproduce the above copyright
- * notice, this list of conditions and the following disclaimer in
- * the documentation and/or other materials provided with the
- * distribution.
- * - Neither the name of ARM LIMITED nor the names of its contributors
- * may be used to endorse or promote products derived from this
- * software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- * -------------------------------------------------------------------- */
-
- #include "arm_math.h"
-
- /**
- * @addtogroup PID
- * @{
- */
-
- /**
- * @details
- * @param[in,out] *S points to an instance of the Q15 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_q15(
- arm_pid_instance_q15 * S,
- int32_t resetStateFlag)
- {
-
- #ifndef ARM_MATH_CM0_FAMILY
-
- /* Run the below code for Cortex-M4 and Cortex-M3 */
-
- /* Derived coefficient A0 */
- S->A0 = __QADD16(__QADD16(S->Kp, S->Ki), S->Kd);
-
- /* Derived coefficients and pack into A1 */
-
- #ifndef ARM_MATH_BIG_ENDIAN
-
- S->A1 = __PKHBT(-__QADD16(__QADD16(S->Kd, S->Kd), S->Kp), S->Kd, 16);
-
- #else
-
- S->A1 = __PKHBT(S->Kd, -__QADD16(__QADD16(S->Kd, S->Kd), S->Kp), 16);
-
- #endif /* #ifndef ARM_MATH_BIG_ENDIAN */
-
- /* 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(q15_t));
- }
-
- #else
-
- /* Run the below code for Cortex-M0 */
-
- q31_t temp; /*to store the sum */
-
- /* Derived coefficient A0 */
- temp = S->Kp + S->Ki + S->Kd;
- S->A0 = (q15_t) __SSAT(temp, 16);
-
- /* Derived coefficients and pack into A1 */
- temp = -(S->Kd + S->Kd + S->Kp);
- S->A1 = (q15_t) __SSAT(temp, 16);
- 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(q15_t));
- }
-
- #endif /* #ifndef ARM_MATH_CM0_FAMILY */
-
- }
-
- /**
- * @} end of PID group
- */
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