diff options
Diffstat (limited to 'Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_init_q15.c')
| -rw-r--r-- | Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_init_q15.c | 190 |
1 files changed, 95 insertions, 95 deletions
diff --git a/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_init_q15.c b/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_init_q15.c index e1f510b..3f82711 100644 --- a/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_init_q15.c +++ b/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_init_q15.c @@ -1,95 +1,95 @@ -/* ---------------------------------------------------------------------- - * Project: CMSIS DSP Library - * Title: arm_pid_init_q15.c - * Description: Q15 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 Q15 PID Control. - @param[in,out] S points to an instance of the Q15 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_q15( - arm_pid_instance_q15 * S, - int32_t resetStateFlag) -{ - -#if defined (ARM_MATH_DSP) - - /* 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 - -#else - - 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; - -#endif /* #if defined (ARM_MATH_DSP) */ - - /* 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(q15_t)); - } - -} - -/** - @} end of PID group - */ +/* ----------------------------------------------------------------------
+ * Project: CMSIS DSP Library
+ * Title: arm_pid_init_q15.c
+ * Description: Q15 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 Q15 PID Control.
+ @param[in,out] S points to an instance of the Q15 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_q15(
+ arm_pid_instance_q15 * S,
+ int32_t resetStateFlag)
+{
+
+#if defined (ARM_MATH_DSP)
+
+ /* 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
+
+#else
+
+ 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;
+
+#endif /* #if defined (ARM_MATH_DSP) */
+
+ /* 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(q15_t));
+ }
+
+}
+
+/**
+ @} end of PID group
+ */
|