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Location: therm/drivers/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q31.c
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Untested changes for RTDs
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* Copyright (C) 2010-2013 ARM Limited. All rights reserved.
*
* $Date: 17. January 2013
* $Revision: V1.4.1
*
* Project: CMSIS DSP Library
* Title: arm_pid_init_q31.c
*
* Description: Q31 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
* @{
*/
/**
* @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)
{
#ifndef ARM_MATH_CM0_FAMILY
/* Run the below code for Cortex-M4 and Cortex-M3 */
/* 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);
#else
/* Run the below code for Cortex-M0 */
q31_t temp;
/* Derived coefficient A0 */
temp = clip_q63_to_q31((q63_t) S->Kp + S->Ki);
S->A0 = clip_q63_to_q31((q63_t) temp + S->Kd);
/* Derived coefficient A1 */
temp = clip_q63_to_q31((q63_t) S->Kd + S->Kd);
S->A1 = -clip_q63_to_q31((q63_t) temp + S->Kp);
#endif /* #ifndef ARM_MATH_CM0_FAMILY */
/* 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
*/
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