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# arm_pid_init_q15.c

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    00001 /* ----------------------------------------------------------------------
    00002 * Copyright (C) 2010 ARM Limited. All rights reserved.
    00003 *
    00004 * $Date:        15. July 2011
    00005 * $Revision:    V1.0.10
    00006 *
    00007 * Project:      CMSIS DSP Library
    00008 * Title:        arm_pid_init_q15.c
    00009 *
    00010 * Description:  Q15 PID Control initialization function
    00011 *
    00012 * Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
    00013 *
    00014 * Version 1.0.10 2011/7/15
    00015 *    Big Endian support added and Merged M0 and M3/M4 Source code.
    00016 *
    00017 * Version 1.0.3 2010/11/29
    00018 *    Re-organized the CMSIS folders and updated documentation.
    00019 *
    00020 * Version 1.0.2 2010/11/11
    00021 *    Documentation updated.
    00022 *
    00023 * Version 1.0.1 2010/10/05
    00024 *    Production release and review comments incorporated.
    00025 *
    00026 * Version 1.0.0 2010/09/20
    00027 *    Production release and review comments incorporated.
    00028 * -------------------------------------------------------------------- */
    00029
    00030 #include "arm_math.h"
    00031
    00050 void arm_pid_init_q15(
    00051   arm_pid_instance_q15 * S,
    00052   int32_t resetStateFlag)
    00053 {
    00054
    00055 #ifndef ARM_MATH_CM0
    00056
    00057   /* Run the below code for Cortex-M4 and Cortex-M3 */
    00058
    00059   /* Derived coefficient A0 */
    00060   S->A0 = __QADD16(__QADD16(S->Kp, S->Ki), S->Kd);
    00061
    00062   /* Derived coefficients and pack into A1 */
    00063
    00064 #ifndef  ARM_MATH_BIG_ENDIAN
    00065
    00066   S->A1 = __PKHBT(-__QADD16(__QADD16(S->Kd, S->Kd), S->Kp), S->Kd, 16);
    00067
    00068 #else
    00069
    00070   S->A1 = __PKHBT(S->Kd, -__QADD16(__QADD16(S->Kd, S->Kd), S->Kp), 16);
    00071
    00072 #endif /*      #ifndef  ARM_MATH_BIG_ENDIAN    */
    00073
    00074   /* Check whether state needs reset or not */
    00075   if(resetStateFlag)
    00076   {
    00077     /* Clear the state buffer.  The size will be always 3 samples */
    00078     memset(S->state, 0, 3u * sizeof(q15_t));
    00079   }
    00080
    00081 #else
    00082
    00083   /* Run the below code for Cortex-M0 */
    00084
    00085   q31_t temp;                                    /*to store the sum */
    00086
    00087   /* Derived coefficient A0 */
    00088   temp = S->Kp + S->Ki + S->Kd;
    00089   S->A0 = (q15_t) __SSAT(temp, 16);
    00090
    00091   /* Derived coefficients and pack into A1 */
    00092   temp = -(S->Kd + S->Kd + S->Kp);
    00093   S->A1 = (q15_t) __SSAT(temp, 16);
    00094   S->A2 = S->Kd;
    00095
    00096
    00097
    00098   /* Check whether state needs reset or not */
    00099   if(resetStateFlag)
    00100   {
    00101     /* Clear the state buffer.  The size will be always 3 samples */
    00102     memset(S->state, 0, 3u * sizeof(q15_t));
    00103   }
    00104
    00105 #endif /* #ifndef ARM_MATH_CM0 */
    00106
    00107 }
    00108

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