From 86608c6770cf08c138a2bdab5855072f64be09ef Mon Sep 17 00:00:00 2001
From: joshua <joshua@joshuayun.com>
Date: Sat, 30 Dec 2023 23:54:31 -0500
Subject: initial commit

---
 .../Source/ControllerFunctions/arm_pid_init_q31.c  | 92 ++++++++++++++++++++++
 1 file changed, 92 insertions(+)
 create mode 100644 Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_init_q31.c

(limited to 'Drivers/CMSIS/DSP/Source/ControllerFunctions/arm_pid_init_q31.c')

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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