/* ----------------------------------------------------------------------
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* Copyright (C) 2010-2014 ARM Limited. All rights reserved.
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*
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* $Date: 19. March 2015
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* $Revision: V.1.4.5
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*
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* Project: CMSIS DSP Library
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* Title: arm_pid_init_q31.c
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*
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* Description: Q31 PID Control initialization function
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*
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* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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* - Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* - Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* - Neither the name of ARM LIMITED nor the names of its contributors
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* may be used to endorse or promote products derived from this
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* software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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* ------------------------------------------------------------------- */
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#include "arm_math.h"
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/**
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* @addtogroup PID
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* @{
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*/
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/**
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* @brief Initialization function for the Q31 PID Control.
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* @param[in,out] *S points to an instance of the Q31 PID structure.
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* @param[in] resetStateFlag flag to reset the state. 0 = no change in state 1 = reset the state.
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* @return none.
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* \par Description:
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* \par
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* The <code>resetStateFlag</code> specifies whether to set state to zero or not. \n
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* The function computes the structure fields: <code>A0</code>, <code>A1</code> <code>A2</code>
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* using the proportional gain( \c Kp), integral gain( \c Ki) and derivative gain( \c Kd)
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* also sets the state variables to all zeros.
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*/
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void arm_pid_init_q31(
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arm_pid_instance_q31 * S,
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int32_t resetStateFlag)
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{
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#ifndef ARM_MATH_CM0_FAMILY
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/* Run the below code for Cortex-M4 and Cortex-M3 */
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/* Derived coefficient A0 */
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S->A0 = __QADD(__QADD(S->Kp, S->Ki), S->Kd);
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/* Derived coefficient A1 */
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S->A1 = -__QADD(__QADD(S->Kd, S->Kd), S->Kp);
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#else
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/* Run the below code for Cortex-M0 */
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q31_t temp;
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/* Derived coefficient A0 */
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temp = clip_q63_to_q31((q63_t) S->Kp + S->Ki);
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S->A0 = clip_q63_to_q31((q63_t) temp + S->Kd);
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/* Derived coefficient A1 */
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temp = clip_q63_to_q31((q63_t) S->Kd + S->Kd);
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S->A1 = -clip_q63_to_q31((q63_t) temp + S->Kp);
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#endif /* #ifndef ARM_MATH_CM0_FAMILY */
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/* Derived coefficient A2 */
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S->A2 = S->Kd;
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/* Check whether state needs reset or not */
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if(resetStateFlag)
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{
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/* Clear the state buffer. The size will be always 3 samples */
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memset(S->state, 0, 3u * sizeof(q31_t));
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}
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}
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/**
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* @} end of PID group
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*/
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