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# arm_pid_init_f32.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_f32.c
    00009 *
    00010 * Description:  Floating-point PID Control initialization function
    00011 *
    00012 *
    00013 * Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
    00014 *
    00015 * Version 1.0.10 2011/7/15
    00016 *    Big Endian support added and Merged M0 and M3/M4 Source code.
    00017 *
    00018 * Version 1.0.3 2010/11/29
    00019 *    Re-organized the CMSIS folders and updated documentation.
    00020 *
    00021 * Version 1.0.2 2010/11/11
    00022 *    Documentation updated.
    00023 *
    00024 * Version 1.0.1 2010/10/05
    00025 *    Production release and review comments incorporated.
    00026 *
    00027 * Version 1.0.0 2010/09/20
    00028 *    Production release and review comments incorporated.
    00029 * ------------------------------------------------------------------- */
    00030
    00031 #include "arm_math.h"
    00032
    00051 void arm_pid_init_f32(
    00052   arm_pid_instance_f32 * S,
    00053   int32_t resetStateFlag)
    00054 {
    00055
    00056   /* Derived coefficient A0 */
    00057   S->A0 = S->Kp + S->Ki + S->Kd;
    00058
    00059   /* Derived coefficient A1 */
    00060   S->A1 = (-S->Kp) - ((float32_t) 2.0 * S->Kd);
    00061
    00062   /* Derived coefficient A2 */
    00063   S->A2 = S->Kd;
    00064
    00065   /* Check whether state needs reset or not */
    00066   if(resetStateFlag)
    00067   {
    00068     /* Clear the state buffer.  The size will be always 3 samples */
    00069     memset(S->state, 0, 3u * sizeof(float32_t));
    00070   }
    00071
    00072 }
    00073

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