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| <h1>arm_pid_init_q31.c</h1> </div> |
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| <div class="contents"> |
| <a href="arm__pid__init__q31_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> |
| <a name="l00002"></a>00002 <span class="comment">* Copyright (C) 2010 ARM Limited. All rights reserved. </span> |
| <a name="l00003"></a>00003 <span class="comment">* </span> |
| <a name="l00004"></a>00004 <span class="comment">* $Date: 15. July 2011 </span> |
| <a name="l00005"></a>00005 <span class="comment">* $Revision: V1.0.10 </span> |
| <a name="l00006"></a>00006 <span class="comment">* </span> |
| <a name="l00007"></a>00007 <span class="comment">* Project: CMSIS DSP Library </span> |
| <a name="l00008"></a>00008 <span class="comment">* Title: arm_pid_init_q31.c </span> |
| <a name="l00009"></a>00009 <span class="comment">* </span> |
| <a name="l00010"></a>00010 <span class="comment">* Description: Q31 PID Control initialization function </span> |
| <a name="l00011"></a>00011 <span class="comment">* </span> |
| <a name="l00012"></a>00012 <span class="comment">* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0</span> |
| <a name="l00013"></a>00013 <span class="comment">* </span> |
| <a name="l00014"></a>00014 <span class="comment">* Version 1.0.10 2011/7/15 </span> |
| <a name="l00015"></a>00015 <span class="comment">* Big Endian support added and Merged M0 and M3/M4 Source code. </span> |
| <a name="l00016"></a>00016 <span class="comment">* </span> |
| <a name="l00017"></a>00017 <span class="comment">* Version 1.0.3 2010/11/29 </span> |
| <a name="l00018"></a>00018 <span class="comment">* Re-organized the CMSIS folders and updated documentation. </span> |
| <a name="l00019"></a>00019 <span class="comment">* </span> |
| <a name="l00020"></a>00020 <span class="comment">* Version 1.0.2 2010/11/11 </span> |
| <a name="l00021"></a>00021 <span class="comment">* Documentation updated. </span> |
| <a name="l00022"></a>00022 <span class="comment">* </span> |
| <a name="l00023"></a>00023 <span class="comment">* Version 1.0.1 2010/10/05 </span> |
| <a name="l00024"></a>00024 <span class="comment">* Production release and review comments incorporated. </span> |
| <a name="l00025"></a>00025 <span class="comment">* </span> |
| <a name="l00026"></a>00026 <span class="comment">* Version 1.0.0 2010/09/20 </span> |
| <a name="l00027"></a>00027 <span class="comment">* Production release and review comments incorporated. </span> |
| <a name="l00028"></a>00028 <span class="comment">* ------------------------------------------------------------------- */</span> |
| <a name="l00029"></a>00029 |
| <a name="l00030"></a>00030 <span class="preprocessor">#include "<a class="code" href="arm__math_8h.html">arm_math.h</a>"</span> |
| <a name="l00031"></a>00031 |
| <a name="l00050"></a><a class="code" href="group___p_i_d.html#gad9d88485234fa9460b1ce9e64989ac86">00050</a> <span class="keywordtype">void</span> <a class="code" href="group___p_i_d.html#gad9d88485234fa9460b1ce9e64989ac86" title="Initialization function for the Q31 PID Control.">arm_pid_init_q31</a>( |
| <a name="l00051"></a>00051 <a class="code" href="structarm__pid__instance__q31.html" title="Instance structure for the Q31 PID Control.">arm_pid_instance_q31</a> * S, |
| <a name="l00052"></a>00052 int32_t resetStateFlag) |
| <a name="l00053"></a>00053 { |
| <a name="l00054"></a>00054 |
| <a name="l00055"></a>00055 <span class="preprocessor">#ifndef ARM_MATH_CM0</span> |
| <a name="l00056"></a>00056 <span class="preprocessor"></span> |
| <a name="l00057"></a>00057 <span class="comment">/* Run the below code for Cortex-M4 and Cortex-M3 */</span> |
| <a name="l00058"></a>00058 |
| <a name="l00059"></a>00059 <span class="comment">/* Derived coefficient A0 */</span> |
| <a name="l00060"></a>00060 S-><a class="code" href="structarm__pid__instance__q31.html#aa5332635ce9c7078cdb4c1ecf442eadd">A0</a> = __QADD(__QADD(S-><a class="code" href="structarm__pid__instance__q31.html#ac2410bf7f856d58dc1d773d4983cac8e">Kp</a>, S-><a class="code" href="structarm__pid__instance__q31.html#aa861d69fd398f29aa0b4b455a823ed72">Ki</a>), S-><a class="code" href="structarm__pid__instance__q31.html#aab4ff371d14441df501f1169f71cbd17">Kd</a>); |
| <a name="l00061"></a>00061 |
| <a name="l00062"></a>00062 <span class="comment">/* Derived coefficient A1 */</span> |
| <a name="l00063"></a>00063 S-><a class="code" href="structarm__pid__instance__q31.html#a2f7492bd6fb92fae5e2de7fbbec39b0e">A1</a> = -__QADD(__QADD(S-><a class="code" href="structarm__pid__instance__q31.html#aab4ff371d14441df501f1169f71cbd17">Kd</a>, S-><a class="code" href="structarm__pid__instance__q31.html#aab4ff371d14441df501f1169f71cbd17">Kd</a>), S-><a class="code" href="structarm__pid__instance__q31.html#ac2410bf7f856d58dc1d773d4983cac8e">Kp</a>); |
| <a name="l00064"></a>00064 |
| <a name="l00065"></a>00065 |
| <a name="l00066"></a>00066 <span class="preprocessor">#else</span> |
| <a name="l00067"></a>00067 <span class="preprocessor"></span> |
| <a name="l00068"></a>00068 <span class="comment">/* Run the below code for Cortex-M0 */</span> |
| <a name="l00069"></a>00069 |
| <a name="l00070"></a>00070 <a class="code" href="arm__math_8h.html#adc89a3547f5324b7b3b95adec3806bc0" title="32-bit fractional data type in 1.31 format.">q31_t</a> temp; |
| <a name="l00071"></a>00071 |
| <a name="l00072"></a>00072 <span class="comment">/* Derived coefficient A0 */</span> |
| <a name="l00073"></a>00073 temp = <a class="code" href="arm__math_8h.html#ad7373e53d3c2e1adfeafc8c2e9720b5c" title="Clips Q63 to Q31 values.">clip_q63_to_q31</a>((<a class="code" href="arm__math_8h.html#a5aea1cb12fc02d9d44c8abf217eaa5c6" title="64-bit fractional data type in 1.63 format.">q63_t</a>) S-><a class="code" href="structarm__pid__instance__q31.html#ac2410bf7f856d58dc1d773d4983cac8e">Kp</a> + S-><a class="code" href="structarm__pid__instance__q31.html#aa861d69fd398f29aa0b4b455a823ed72">Ki</a>); |
| <a name="l00074"></a>00074 S-><a class="code" href="structarm__pid__instance__q31.html#aa5332635ce9c7078cdb4c1ecf442eadd">A0</a> = <a class="code" href="arm__math_8h.html#ad7373e53d3c2e1adfeafc8c2e9720b5c" title="Clips Q63 to Q31 values.">clip_q63_to_q31</a>((<a class="code" href="arm__math_8h.html#a5aea1cb12fc02d9d44c8abf217eaa5c6" title="64-bit fractional data type in 1.63 format.">q63_t</a>) temp + S-><a class="code" href="structarm__pid__instance__q31.html#aab4ff371d14441df501f1169f71cbd17">Kd</a>); |
| <a name="l00075"></a>00075 |
| <a name="l00076"></a>00076 <span class="comment">/* Derived coefficient A1 */</span> |
| <a name="l00077"></a>00077 temp = <a class="code" href="arm__math_8h.html#ad7373e53d3c2e1adfeafc8c2e9720b5c" title="Clips Q63 to Q31 values.">clip_q63_to_q31</a>((<a class="code" href="arm__math_8h.html#a5aea1cb12fc02d9d44c8abf217eaa5c6" title="64-bit fractional data type in 1.63 format.">q63_t</a>) S-><a class="code" href="structarm__pid__instance__q31.html#aab4ff371d14441df501f1169f71cbd17">Kd</a> + S-><a class="code" href="structarm__pid__instance__q31.html#aab4ff371d14441df501f1169f71cbd17">Kd</a>); |
| <a name="l00078"></a>00078 S-><a class="code" href="structarm__pid__instance__q31.html#a2f7492bd6fb92fae5e2de7fbbec39b0e">A1</a> = -<a class="code" href="arm__math_8h.html#ad7373e53d3c2e1adfeafc8c2e9720b5c" title="Clips Q63 to Q31 values.">clip_q63_to_q31</a>((<a class="code" href="arm__math_8h.html#a5aea1cb12fc02d9d44c8abf217eaa5c6" title="64-bit fractional data type in 1.63 format.">q63_t</a>) temp + S-><a class="code" href="structarm__pid__instance__q31.html#ac2410bf7f856d58dc1d773d4983cac8e">Kp</a>); |
| <a name="l00079"></a>00079 |
| <a name="l00080"></a>00080 <span class="preprocessor">#endif </span><span class="comment">/* #ifndef ARM_MATH_CM0 */</span> |
| <a name="l00081"></a>00081 |
| <a name="l00082"></a>00082 <span class="comment">/* Derived coefficient A2 */</span> |
| <a name="l00083"></a>00083 S-><a class="code" href="structarm__pid__instance__q31.html#a3e34537c53af4f9ad7bfffa4dff27c82">A2</a> = S-><a class="code" href="structarm__pid__instance__q31.html#aab4ff371d14441df501f1169f71cbd17">Kd</a>; |
| <a name="l00084"></a>00084 |
| <a name="l00085"></a>00085 <span class="comment">/* Check whether state needs reset or not */</span> |
| <a name="l00086"></a>00086 <span class="keywordflow">if</span>(resetStateFlag) |
| <a name="l00087"></a>00087 { |
| <a name="l00088"></a>00088 <span class="comment">/* Clear the state buffer. The size will be always 3 samples */</span> |
| <a name="l00089"></a>00089 memset(S-><a class="code" href="structarm__pid__instance__q31.html#a228e4a64da6014844a0a671a1fa391d4">state</a>, 0, 3u * <span class="keyword">sizeof</span>(<a class="code" href="arm__math_8h.html#adc89a3547f5324b7b3b95adec3806bc0" title="32-bit fractional data type in 1.31 format.">q31_t</a>)); |
| <a name="l00090"></a>00090 } |
| <a name="l00091"></a>00091 |
| <a name="l00092"></a>00092 } |
| <a name="l00093"></a>00093 |
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