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  50 <h1>arm_pid_init_f32.c</h1>  </div>
  51 </div>
  52 <div class="contents">
  53 <a href="arm__pid__init__f32_8c.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* ----------------------------------------------------------------------   </span>
  54 <a name="l00002"></a>00002 <span class="comment">* Copyright (C) 2010 ARM Limited. All rights reserved.   </span>
  55 <a name="l00003"></a>00003 <span class="comment">*   </span>
  56 <a name="l00004"></a>00004 <span class="comment">* $Date:        15. July 2011  </span>
  57 <a name="l00005"></a>00005 <span class="comment">* $Revision:    V1.0.10  </span>
  58 <a name="l00006"></a>00006 <span class="comment">*   </span>
  59 <a name="l00007"></a>00007 <span class="comment">* Project:      CMSIS DSP Library   </span>
  60 <a name="l00008"></a>00008 <span class="comment">* Title:        arm_pid_init_f32.c   </span>
  61 <a name="l00009"></a>00009 <span class="comment">*   </span>
  62 <a name="l00010"></a>00010 <span class="comment">* Description:  Floating-point PID Control initialization function   </span>
  63 <a name="l00011"></a>00011 <span class="comment">*                 </span>
  64 <a name="l00012"></a>00012 <span class="comment">*   </span>
  65 <a name="l00013"></a>00013 <span class="comment">* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0</span>
  66 <a name="l00014"></a>00014 <span class="comment">*  </span>
  67 <a name="l00015"></a>00015 <span class="comment">* Version 1.0.10 2011/7/15 </span>
  68 <a name="l00016"></a>00016 <span class="comment">*    Big Endian support added and Merged M0 and M3/M4 Source code.  </span>
  69 <a name="l00017"></a>00017 <span class="comment">*   </span>
  70 <a name="l00018"></a>00018 <span class="comment">* Version 1.0.3 2010/11/29  </span>
  71 <a name="l00019"></a>00019 <span class="comment">*    Re-organized the CMSIS folders and updated documentation.   </span>
  72 <a name="l00020"></a>00020 <span class="comment">*    </span>
  73 <a name="l00021"></a>00021 <span class="comment">* Version 1.0.2 2010/11/11   </span>
  74 <a name="l00022"></a>00022 <span class="comment">*    Documentation updated.    </span>
  75 <a name="l00023"></a>00023 <span class="comment">*   </span>
  76 <a name="l00024"></a>00024 <span class="comment">* Version 1.0.1 2010/10/05    </span>
  77 <a name="l00025"></a>00025 <span class="comment">*    Production release and review comments incorporated.   </span>
  78 <a name="l00026"></a>00026 <span class="comment">*   </span>
  79 <a name="l00027"></a>00027 <span class="comment">* Version 1.0.0 2010/09/20    </span>
  80 <a name="l00028"></a>00028 <span class="comment">*    Production release and review comments incorporated.   </span>
  81 <a name="l00029"></a>00029 <span class="comment">* ------------------------------------------------------------------- */</span>
  82 <a name="l00030"></a>00030
  83 <a name="l00031"></a>00031 <span class="preprocessor">#include &quot;<a class="code" href="arm__math_8h.html">arm_math.h</a>&quot;</span>
  84 <a name="l00032"></a>00032
  85 <a name="l00051"></a><a class="code" href="group___p_i_d.html#gae31536b19b82b93ed184fb1ab73cfcb3">00051</a> <span class="keywordtype">void</span> <a class="code" href="group___p_i_d.html#gae31536b19b82b93ed184fb1ab73cfcb3" title="Initialization function for the floating-point PID Control.">arm_pid_init_f32</a>(
  86 <a name="l00052"></a>00052   <a class="code" href="structarm__pid__instance__f32.html" title="Instance structure for the floating-point PID Control.">arm_pid_instance_f32</a> * S,
  87 <a name="l00053"></a>00053   int32_t resetStateFlag)
  88 <a name="l00054"></a>00054 {
  89 <a name="l00055"></a>00055
  90 <a name="l00056"></a>00056   <span class="comment">/* Derived coefficient A0 */</span>
  91 <a name="l00057"></a>00057   S-&gt;<a class="code" href="structarm__pid__instance__f32.html#ad7b0bed64915d0a25a3409fa2dc45556">A0</a> = S-&gt;<a class="code" href="structarm__pid__instance__f32.html#aa9b9aa9e413c6cec376a9dddc9f01ebe">Kp</a> + S-&gt;<a class="code" href="structarm__pid__instance__f32.html#ac0feffde05fe391eeab3bf78e953830a">Ki</a> + S-&gt;<a class="code" href="structarm__pid__instance__f32.html#ad5b68fbf84d16188ae4747ff91f6f088">Kd</a>;
  92 <a name="l00058"></a>00058
  93 <a name="l00059"></a>00059   <span class="comment">/* Derived coefficient A1 */</span>
  94 <a name="l00060"></a>00060   S-&gt;<a class="code" href="structarm__pid__instance__f32.html#a7def89571c50f7137a213326a396e560">A1</a> = (-S-&gt;<a class="code" href="structarm__pid__instance__f32.html#aa9b9aa9e413c6cec376a9dddc9f01ebe">Kp</a>) - ((<a class="code" href="arm__math_8h.html#a4611b605e45ab401f02cab15c5e38715" title="32-bit floating-point type definition.">float32_t</a>) 2.0 * S-&gt;<a class="code" href="structarm__pid__instance__f32.html#ad5b68fbf84d16188ae4747ff91f6f088">Kd</a>);
  95 <a name="l00061"></a>00061
  96 <a name="l00062"></a>00062   <span class="comment">/* Derived coefficient A2 */</span>
  97 <a name="l00063"></a>00063   S-&gt;<a class="code" href="structarm__pid__instance__f32.html#a155acf642ba2f521869f19d694cd7fa0">A2</a> = S-&gt;<a class="code" href="structarm__pid__instance__f32.html#ad5b68fbf84d16188ae4747ff91f6f088">Kd</a>;
  98 <a name="l00064"></a>00064
  99 <a name="l00065"></a>00065   <span class="comment">/* Check whether state needs reset or not */</span>
 100 <a name="l00066"></a>00066   <span class="keywordflow">if</span>(resetStateFlag)
 101 <a name="l00067"></a>00067   {
 102 <a name="l00068"></a>00068     <span class="comment">/* Clear the state buffer.  The size will be always 3 samples */</span>
 103 <a name="l00069"></a>00069     memset(S-&gt;<a class="code" href="structarm__pid__instance__f32.html#afd394e1e52fb1d526aa472c83b8f2464">state</a>, 0, 3u * <span class="keyword">sizeof</span>(<a class="code" href="arm__math_8h.html#a4611b605e45ab401f02cab15c5e38715" title="32-bit floating-point type definition.">float32_t</a>));
 104 <a name="l00070"></a>00070   }
 105 <a name="l00071"></a>00071
 106 <a name="l00072"></a>00072 }
 107 <a name="l00073"></a>00073
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