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_q15.c 00009 * 00010 * Description: Q15 PID Control initialization function 00011 * 00012 * Target Processor: Cortex-M4/Cortex-M3/Cortex-M0 00013 * 00014 * Version 1.0.10 2011/7/15 00015 * Big Endian support added and Merged M0 and M3/M4 Source code. 00016 * 00017 * Version 1.0.3 2010/11/29 00018 * Re-organized the CMSIS folders and updated documentation. 00019 * 00020 * Version 1.0.2 2010/11/11 00021 * Documentation updated. 00022 * 00023 * Version 1.0.1 2010/10/05 00024 * Production release and review comments incorporated. 00025 * 00026 * Version 1.0.0 2010/09/20 00027 * Production release and review comments incorporated. 00028 * -------------------------------------------------------------------- */ 00029 00030 #include "arm_math.h" 00031 00050 void arm_pid_init_q15( 00051 arm_pid_instance_q15 * S, 00052 int32_t resetStateFlag) 00053 { 00054 00055 #ifndef ARM_MATH_CM0 00056 00057 /* Run the below code for Cortex-M4 and Cortex-M3 */ 00058 00059 /* Derived coefficient A0 */ 00060 S->A0 = __QADD16(__QADD16(S->Kp, S->Ki), S->Kd); 00061 00062 /* Derived coefficients and pack into A1 */ 00063 00064 #ifndef ARM_MATH_BIG_ENDIAN 00065 00066 S->A1 = __PKHBT(-__QADD16(__QADD16(S->Kd, S->Kd), S->Kp), S->Kd, 16); 00067 00068 #else 00069 00070 S->A1 = __PKHBT(S->Kd, -__QADD16(__QADD16(S->Kd, S->Kd), S->Kp), 16); 00071 00072 #endif /* #ifndef ARM_MATH_BIG_ENDIAN */ 00073 00074 /* Check whether state needs reset or not */ 00075 if(resetStateFlag) 00076 { 00077 /* Clear the state buffer. The size will be always 3 samples */ 00078 memset(S->state, 0, 3u * sizeof(q15_t)); 00079 } 00080 00081 #else 00082 00083 /* Run the below code for Cortex-M0 */ 00084 00085 q31_t temp; /*to store the sum */ 00086 00087 /* Derived coefficient A0 */ 00088 temp = S->Kp + S->Ki + S->Kd; 00089 S->A0 = (q15_t) __SSAT(temp, 16); 00090 00091 /* Derived coefficients and pack into A1 */ 00092 temp = -(S->Kd + S->Kd + S->Kp); 00093 S->A1 = (q15_t) __SSAT(temp, 16); 00094 S->A2 = S->Kd; 00095 00096 00097 00098 /* Check whether state needs reset or not */ 00099 if(resetStateFlag) 00100 { 00101 /* Clear the state buffer. The size will be always 3 samples */ 00102 memset(S->state, 0, 3u * sizeof(q15_t)); 00103 } 00104 00105 #endif /* #ifndef ARM_MATH_CM0 */ 00106 00107 } 00108