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# arm_pid_init_q31.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_q31.c
    00009 *
    00010 * Description:  Q31 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_q31(
    00051   arm_pid_instance_q31 * 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 = __QADD(__QADD(S->Kp, S->Ki), S->Kd);
    00061
    00062   /* Derived coefficient A1 */
    00063   S->A1 = -__QADD(__QADD(S->Kd, S->Kd), S->Kp);
    00064
    00065
    00066 #else
    00067
    00068   /* Run the below code for Cortex-M0 */
    00069
    00070   q31_t temp;
    00071
    00072   /* Derived coefficient A0 */
    00073   temp = clip_q63_to_q31((q63_t) S->Kp + S->Ki);
    00074   S->A0 = clip_q63_to_q31((q63_t) temp + S->Kd);
    00075
    00076   /* Derived coefficient A1 */
    00077   temp = clip_q63_to_q31((q63_t) S->Kd + S->Kd);
    00078   S->A1 = -clip_q63_to_q31((q63_t) temp + S->Kp);
    00079
    00080 #endif /* #ifndef ARM_MATH_CM0 */
    00081
    00082   /* Derived coefficient A2 */
    00083   S->A2 = S->Kd;
    00084
    00085   /* Check whether state needs reset or not */
    00086   if(resetStateFlag)
    00087   {
    00088     /* Clear the state buffer.  The size will be always 3 samples */
    00089     memset(S->state, 0, 3u * sizeof(q31_t));
    00090   }
    00091
    00092 }
    00093

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