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  50 <h1>arm_pid_init_q15.c</h1>  </div>
  51 </div>
  52 <div class="contents">
  53 <a href="arm__pid__init__q15_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_q15.c   </span>
  61 <a name="l00009"></a>00009 <span class="comment">*   </span>
  62 <a name="l00010"></a>00010 <span class="comment">* Description:  Q15 PID Control initialization function   </span>
  63 <a name="l00011"></a>00011 <span class="comment">*   </span>
  64 <a name="l00012"></a>00012 <span class="comment">* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0</span>
  65 <a name="l00013"></a>00013 <span class="comment">*  </span>
  66 <a name="l00014"></a>00014 <span class="comment">* Version 1.0.10 2011/7/15 </span>
  67 <a name="l00015"></a>00015 <span class="comment">*    Big Endian support added and Merged M0 and M3/M4 Source code.  </span>
  68 <a name="l00016"></a>00016 <span class="comment">*   </span>
  69 <a name="l00017"></a>00017 <span class="comment">* Version 1.0.3 2010/11/29  </span>
  70 <a name="l00018"></a>00018 <span class="comment">*    Re-organized the CMSIS folders and updated documentation.   </span>
  71 <a name="l00019"></a>00019 <span class="comment">*    </span>
  72 <a name="l00020"></a>00020 <span class="comment">* Version 1.0.2 2010/11/11   </span>
  73 <a name="l00021"></a>00021 <span class="comment">*    Documentation updated.    </span>
  74 <a name="l00022"></a>00022 <span class="comment">*   </span>
  75 <a name="l00023"></a>00023 <span class="comment">* Version 1.0.1 2010/10/05    </span>
  76 <a name="l00024"></a>00024 <span class="comment">*    Production release and review comments incorporated.   </span>
  77 <a name="l00025"></a>00025 <span class="comment">*   </span>
  78 <a name="l00026"></a>00026 <span class="comment">* Version 1.0.0 2010/09/20    </span>
  79 <a name="l00027"></a>00027 <span class="comment">*    Production release and review comments incorporated.   </span>
  80 <a name="l00028"></a>00028 <span class="comment">* -------------------------------------------------------------------- */</span>
  81 <a name="l00029"></a>00029
  82 <a name="l00030"></a>00030 <span class="preprocessor">#include &quot;<a class="code" href="arm__math_8h.html">arm_math.h</a>&quot;</span>
  83 <a name="l00031"></a>00031
  84 <a name="l00050"></a><a class="code" href="group___p_i_d.html#ga2cb1e3d3ebb167348fdabec74653d5c3">00050</a> <span class="keywordtype">void</span> <a class="code" href="group___p_i_d.html#ga2cb1e3d3ebb167348fdabec74653d5c3" title="Initialization function for the Q15 PID Control.">arm_pid_init_q15</a>(
  85 <a name="l00051"></a>00051   <a class="code" href="structarm__pid__instance__q15.html" title="Instance structure for the Q15 PID Control.">arm_pid_instance_q15</a> * S,
  86 <a name="l00052"></a>00052   int32_t resetStateFlag)
  87 <a name="l00053"></a>00053 {
  88 <a name="l00054"></a>00054
  89 <a name="l00055"></a>00055 <span class="preprocessor">#ifndef ARM_MATH_CM0</span>
  90 <a name="l00056"></a>00056 <span class="preprocessor"></span>
  91 <a name="l00057"></a>00057   <span class="comment">/* Run the below code for Cortex-M4 and Cortex-M3 */</span>
  92 <a name="l00058"></a>00058
  93 <a name="l00059"></a>00059   <span class="comment">/* Derived coefficient A0 */</span>
  94 <a name="l00060"></a>00060   S-&gt;<a class="code" href="structarm__pid__instance__q15.html#ad77f3a2823c7f96de42c92a3fbf3246b">A0</a> = __QADD16(__QADD16(S-&gt;<a class="code" href="structarm__pid__instance__q15.html#ad228aae24a1b6d855c93a8b9bbc1c4f1">Kp</a>, S-&gt;<a class="code" href="structarm__pid__instance__q15.html#a0dcc19d5c8f7bc401acea9e8318cd777">Ki</a>), S-&gt;<a class="code" href="structarm__pid__instance__q15.html#af5d4b53091f19eff7536636b7cc43111">Kd</a>);
  95 <a name="l00061"></a>00061
  96 <a name="l00062"></a>00062   <span class="comment">/* Derived coefficients and pack into A1 */</span>
  97 <a name="l00063"></a>00063
  98 <a name="l00064"></a>00064 <span class="preprocessor">#ifndef  ARM_MATH_BIG_ENDIAN</span>
  99 <a name="l00065"></a>00065 <span class="preprocessor"></span>
 100 <a name="l00066"></a>00066   S-&gt;<a class="code" href="structarm__pid__instance__q15.html#a1b8412c517071962a9acfdc6778906ec">A1</a> = __PKHBT(-__QADD16(__QADD16(S-&gt;<a class="code" href="structarm__pid__instance__q15.html#af5d4b53091f19eff7536636b7cc43111">Kd</a>, S-&gt;<a class="code" href="structarm__pid__instance__q15.html#af5d4b53091f19eff7536636b7cc43111">Kd</a>), S-&gt;<a class="code" href="structarm__pid__instance__q15.html#ad228aae24a1b6d855c93a8b9bbc1c4f1">Kp</a>), S-&gt;<a class="code" href="structarm__pid__instance__q15.html#af5d4b53091f19eff7536636b7cc43111">Kd</a>, 16);
 101 <a name="l00067"></a>00067
 102 <a name="l00068"></a>00068 <span class="preprocessor">#else</span>
 103 <a name="l00069"></a>00069 <span class="preprocessor"></span>
 104 <a name="l00070"></a>00070   S-&gt;<a class="code" href="structarm__pid__instance__q15.html#a1b8412c517071962a9acfdc6778906ec">A1</a> = __PKHBT(S-&gt;<a class="code" href="structarm__pid__instance__q15.html#af5d4b53091f19eff7536636b7cc43111">Kd</a>, -__QADD16(__QADD16(S-&gt;<a class="code" href="structarm__pid__instance__q15.html#af5d4b53091f19eff7536636b7cc43111">Kd</a>, S-&gt;<a class="code" href="structarm__pid__instance__q15.html#af5d4b53091f19eff7536636b7cc43111">Kd</a>), S-&gt;<a class="code" href="structarm__pid__instance__q15.html#ad228aae24a1b6d855c93a8b9bbc1c4f1">Kp</a>), 16);
 105 <a name="l00071"></a>00071
 106 <a name="l00072"></a>00072 <span class="preprocessor">#endif </span><span class="comment">/*      #ifndef  ARM_MATH_BIG_ENDIAN    */</span>
 107 <a name="l00073"></a>00073
 108 <a name="l00074"></a>00074   <span class="comment">/* Check whether state needs reset or not */</span>
 109 <a name="l00075"></a>00075   <span class="keywordflow">if</span>(resetStateFlag)
 110 <a name="l00076"></a>00076   {
 111 <a name="l00077"></a>00077     <span class="comment">/* Clear the state buffer.  The size will be always 3 samples */</span>
 112 <a name="l00078"></a>00078     memset(S-&gt;<a class="code" href="structarm__pid__instance__q15.html#a4a3f0a878b5b6b055e3478a2f244cd30">state</a>, 0, 3u * <span class="keyword">sizeof</span>(<a class="code" href="arm__math_8h.html#ab5a8fb21a5b3b983d5f54f31614052ea" title="16-bit fractional data type in 1.15 format.">q15_t</a>));
 113 <a name="l00079"></a>00079   }
 114 <a name="l00080"></a>00080
 115 <a name="l00081"></a>00081 <span class="preprocessor">#else</span>
 116 <a name="l00082"></a>00082 <span class="preprocessor"></span>
 117 <a name="l00083"></a>00083   <span class="comment">/* Run the below code for Cortex-M0 */</span>
 118 <a name="l00084"></a>00084
 119 <a name="l00085"></a>00085   <a class="code" href="arm__math_8h.html#adc89a3547f5324b7b3b95adec3806bc0" title="32-bit fractional data type in 1.31 format.">q31_t</a> temp;                                    <span class="comment">/*to store the sum */</span>
 120 <a name="l00086"></a>00086
 121 <a name="l00087"></a>00087   <span class="comment">/* Derived coefficient A0 */</span>
 122 <a name="l00088"></a>00088   temp = S-&gt;<a class="code" href="structarm__pid__instance__q15.html#ad228aae24a1b6d855c93a8b9bbc1c4f1">Kp</a> + S-&gt;<a class="code" href="structarm__pid__instance__q15.html#a0dcc19d5c8f7bc401acea9e8318cd777">Ki</a> + S-&gt;<a class="code" href="structarm__pid__instance__q15.html#af5d4b53091f19eff7536636b7cc43111">Kd</a>;
 123 <a name="l00089"></a>00089   S-&gt;<a class="code" href="structarm__pid__instance__q15.html#ad77f3a2823c7f96de42c92a3fbf3246b">A0</a> = (<a class="code" href="arm__math_8h.html#ab5a8fb21a5b3b983d5f54f31614052ea" title="16-bit fractional data type in 1.15 format.">q15_t</a>) __SSAT(temp, 16);
 124 <a name="l00090"></a>00090
 125 <a name="l00091"></a>00091   <span class="comment">/* Derived coefficients and pack into A1 */</span>
 126 <a name="l00092"></a>00092   temp = -(S-&gt;<a class="code" href="structarm__pid__instance__q15.html#af5d4b53091f19eff7536636b7cc43111">Kd</a> + S-&gt;<a class="code" href="structarm__pid__instance__q15.html#af5d4b53091f19eff7536636b7cc43111">Kd</a> + S-&gt;<a class="code" href="structarm__pid__instance__q15.html#ad228aae24a1b6d855c93a8b9bbc1c4f1">Kp</a>);
 127 <a name="l00093"></a>00093   S-&gt;<a class="code" href="structarm__pid__instance__q15.html#a1b8412c517071962a9acfdc6778906ec">A1</a> = (<a class="code" href="arm__math_8h.html#ab5a8fb21a5b3b983d5f54f31614052ea" title="16-bit fractional data type in 1.15 format.">q15_t</a>) __SSAT(temp, 16);
 128 <a name="l00094"></a>00094   S-&gt;A2 = S-&gt;<a class="code" href="structarm__pid__instance__q15.html#af5d4b53091f19eff7536636b7cc43111">Kd</a>;
 129 <a name="l00095"></a>00095
 130 <a name="l00096"></a>00096
 131 <a name="l00097"></a>00097
 132 <a name="l00098"></a>00098   <span class="comment">/* Check whether state needs reset or not */</span>
 133 <a name="l00099"></a>00099   <span class="keywordflow">if</span>(resetStateFlag)
 134 <a name="l00100"></a>00100   {
 135 <a name="l00101"></a>00101     <span class="comment">/* Clear the state buffer.  The size will be always 3 samples */</span>
 136 <a name="l00102"></a>00102     memset(S-&gt;<a class="code" href="structarm__pid__instance__q15.html#a4a3f0a878b5b6b055e3478a2f244cd30">state</a>, 0, 3u * <span class="keyword">sizeof</span>(<a class="code" href="arm__math_8h.html#ab5a8fb21a5b3b983d5f54f31614052ea" title="16-bit fractional data type in 1.15 format.">q15_t</a>));
 137 <a name="l00103"></a>00103   }
 138 <a name="l00104"></a>00104
 139 <a name="l00105"></a>00105 <span class="preprocessor">#endif </span><span class="comment">/* #ifndef ARM_MATH_CM0 */</span>
 140 <a name="l00106"></a>00106
 141 <a name="l00107"></a>00107 }
 142 <a name="l00108"></a>00108
 143 </pre></div></div>
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