add l476 implementationl476

1 files changed, 92 insertions, 92 deletions

diff --git a/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_init_q31.c b/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_init_q31.c
index 53df5ee..680d463 100644
--- a/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_init_q31.c
+++ b/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_init_q31.c
@@ -1,92 +1,92 @@
-/* ----------------------------------------------------------------------
- * Project:      CMSIS DSP Library
- * Title:        arm_pid_init_q31.c
- * Description:  Q31 PID Control initialization function
- *
- * $Date:        23 April 2021
- * $Revision:    V1.9.0
- *
- * Target Processor: Cortex-M and Cortex-A cores
- * -------------------------------------------------------------------- */
-/*
- * Copyright (C) 2010-2021 ARM Limited or its affiliates. All rights reserved.
- *
- * SPDX-License-Identifier: Apache-2.0
- *
- * Licensed under the Apache License, Version 2.0 (the License); you may
- * not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an AS IS BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#include "dsp/controller_functions.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
-                   - value = 0: no change in state
-                   - value = 1: reset state
-  @return        none
-
-  @par           Details
-                   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)
-{
-
-#if defined (ARM_MATH_DSP)
-
-  /* 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
-
-  q31_t temp;                                    /* to store the sum */
-
-  /* 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 /* #if defined (ARM_MATH_DSP) */
-
-  /* Derived coefficient A2 */
-  S->A2 = S->Kd;
-
-  /* Check whether state needs reset or not */
-  if (resetStateFlag)
-  {
-    /* Reset state to zero, The size will be always 3 samples */
-    memset(S->state, 0, 3U * sizeof(q31_t));
-  }
-
-}
-
-/**
-  @} end of PID group
- */
+/* ----------------------------------------------------------------------

+ * Project:      CMSIS DSP Library

+ * Title:        arm_pid_init_q31.c

+ * Description:  Q31 PID Control initialization function

+ *

+ * $Date:        18. March 2019

+ * $Revision:    V1.6.0

+ *

+ * Target Processor: Cortex-M cores

+ * -------------------------------------------------------------------- */

+/*

+ * Copyright (C) 2010-2019 ARM Limited or its affiliates. All rights reserved.

+ *

+ * SPDX-License-Identifier: Apache-2.0

+ *

+ * Licensed under the Apache License, Version 2.0 (the License); you may

+ * not use this file except in compliance with the License.

+ * You may obtain a copy of the License at

+ *

+ * www.apache.org/licenses/LICENSE-2.0

+ *

+ * Unless required by applicable law or agreed to in writing, software

+ * distributed under the License is distributed on an AS IS BASIS, WITHOUT

+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

+ * See the License for the specific language governing permissions and

+ * limitations under the License.

+ */

+

+#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

+                   - value = 0: no change in state

+                   - value = 1: reset state

+  @return        none

+

+  @par           Details

+                   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)

+{

+

+#if defined (ARM_MATH_DSP)

+

+  /* 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

+

+  q31_t temp;                                    /* to store the sum */

+

+  /* 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 /* #if defined (ARM_MATH_DSP) */

+

+  /* Derived coefficient A2 */

+  S->A2 = S->Kd;

+

+  /* Check whether state needs reset or not */

+  if (resetStateFlag)

+  {

+    /* Reset state to zero, The size will be always 3 samples */

+    memset(S->state, 0, 3U * sizeof(q31_t));

+  }

+

+}

+

+/**

+  @} end of PID group

+ */