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| author | joshua <joshua@joshuayun.com> | 2023-12-30 23:54:31 -0500 |
|---|---|---|
| committer | joshua <joshua@joshuayun.com> | 2023-12-30 23:54:31 -0500 |
| commit | 86608c6770cf08c138a2bdab5855072f64be09ef (patch) | |
| tree | 494a61b3ef37e76f9235a0d10f5c93d97290a35f /Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_init_q31.c | |
| download | sdr-software-master.tar.gz | |
Diffstat (limited to 'Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_init_q31.c')
| -rw-r--r-- | Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_init_q31.c | 92 |
1 files changed, 92 insertions, 0 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 new file mode 100644 index 0000000..680d463 --- /dev/null +++ b/Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_init_q31.c @@ -0,0 +1,92 @@ +/* ----------------------------------------------------------------------
+ * 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
+ */
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