Official ARM version: v5.6.0HEADmaster

1 files changed, 23 insertions, 38 deletions

diff --git a/DSP/Source/ControllerFunctions/arm_pid_init_q15.c b/DSP/Source/ControllerFunctions/arm_pid_init_q15.c
index 61049cf..c88a3d9 100644
--- a/DSP/Source/ControllerFunctions/arm_pid_init_q15.c
+++ b/DSP/Source/ControllerFunctions/arm_pid_init_q15.c
@@ -3,13 +3,13 @@
  * Title:        arm_pid_init_q15.c
  * Description:  Q15 PID Control initialization function
  *
- * $Date:        27. January 2017
- * $Revision:    V.1.5.1
+ * $Date:        18. March 2019
+ * $Revision:    V1.6.0
  *
  * Target Processor: Cortex-M cores
  * -------------------------------------------------------------------- */
 /*
- * Copyright (C) 2010-2017 ARM Limited or its affiliates. All rights reserved.
+ * Copyright (C) 2010-2019 ARM Limited or its affiliates. All rights reserved.
  *
  * SPDX-License-Identifier: Apache-2.0
  *
@@ -28,22 +28,24 @@
 
 #include "arm_math.h"
 
- /**
- * @addtogroup PID
- * @{
+/**
+  @addtogroup PID
+  @{
  */
 
 /**
- * @details
- * @param[in,out] *S points to an instance of the Q15 PID structure.
- * @param[in]     resetStateFlag  flag to reset the state. 0 = no change in state 1 = reset the state.
- * @return none.
- * \par Description:
- * \par
- * The <code>resetStateFlag</code> specifies whether to set state to zero or not. \n
- * The function computes the structure fields: <code>A0</code>, <code>A1</code> <code>A2</code>
- * using the proportional gain( \c Kp), integral gain( \c Ki) and derivative gain( \c Kd)
- * also sets the state variables to all zeros.
+  @brief         Initialization function for the Q15 PID Control.
+  @param[in,out] S               points to an instance of the Q15 PID structure
+  @param[in]     resetStateFlag
+                   - value = 0: no change in state
+                   - value = 1: reset state
+  @return        none
+
+  @par           Details
+                   The <code>resetStateFlag</code> specifies whether to set state to zero or not. \n
+                   The function computes the structure fields: <code>A0</code>, <code>A1</code> <code>A2</code>
+                   using the proportional gain( \c Kp), integral gain( \c Ki) and derivative gain( \c Kd)
+                   also sets the state variables to all zeros.
  */
 
 void arm_pid_init_q15(
@@ -53,35 +55,20 @@ void arm_pid_init_q15(
 
 #if defined (ARM_MATH_DSP)
 
-  /* Run the below code for Cortex-M4 and Cortex-M3 */
-
   /* Derived coefficient A0 */
   S->A0 = __QADD16(__QADD16(S->Kp, S->Ki), S->Kd);
 
   /* Derived coefficients and pack into A1 */
 
 #ifndef  ARM_MATH_BIG_ENDIAN
-
   S->A1 = __PKHBT(-__QADD16(__QADD16(S->Kd, S->Kd), S->Kp), S->Kd, 16);
-
 #else
-
   S->A1 = __PKHBT(S->Kd, -__QADD16(__QADD16(S->Kd, S->Kd), S->Kp), 16);
-
-#endif /*      #ifndef  ARM_MATH_BIG_ENDIAN    */
-
-  /* Check whether state needs reset or not */
-  if (resetStateFlag)
-  {
-    /* Clear the state buffer.  The size will be always 3 samples */
-    memset(S->state, 0, 3U * sizeof(q15_t));
-  }
+#endif
 
 #else
 
-  /* Run the below code for Cortex-M0 */
-
-  q31_t temp;                                    /*to store the sum */
+  q31_t temp;                                    /* to store the sum */
 
   /* Derived coefficient A0 */
   temp = S->Kp + S->Ki + S->Kd;
@@ -92,19 +79,17 @@ void arm_pid_init_q15(
   S->A1 = (q15_t) __SSAT(temp, 16);
   S->A2 = S->Kd;
 
-
+#endif /* #if defined (ARM_MATH_DSP) */
 
   /* Check whether state needs reset or not */
   if (resetStateFlag)
   {
-    /* Clear the state buffer.  The size will be always 3 samples */
+    /* Reset state to zero, The size will be always 3 samples */
     memset(S->state, 0, 3U * sizeof(q15_t));
   }
 
-#endif /* #if defined (ARM_MATH_DSP) */
-
 }
 
 /**
- * @} end of PID group
+  @} end of PID group
  */