Official ARM version: v4.5

8 files changed, 781 insertions, 0 deletions

diff --git a/DSP_Lib/Source/ControllerFunctions/arm_pid_init_f32.c b/DSP_Lib/Source/ControllerFunctions/arm_pid_init_f32.c
new file mode 100644
index 0000000..2bc1854
--- /dev/null
+++ b/DSP_Lib/Source/ControllerFunctions/arm_pid_init_f32.c
@@ -0,0 +1,87 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010-2014 ARM Limited. All rights reserved.    
+*    
+* $Date:        19. March 2015
+* $Revision: 	V.1.4.5
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_pid_init_f32.c    
+*    
+* Description:	Floating-point PID Control initialization function    
+*				   
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Redistribution and use in source and binary forms, with or without 
+* modification, are permitted provided that the following conditions
+* are met:
+*   - Redistributions of source code must retain the above copyright
+*     notice, this list of conditions and the following disclaimer.
+*   - Redistributions in binary form must reproduce the above copyright
+*     notice, this list of conditions and the following disclaimer in
+*     the documentation and/or other materials provided with the 
+*     distribution.
+*   - Neither the name of ARM LIMITED nor the names of its contributors
+*     may be used to endorse or promote products derived from this
+*     software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 
+* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+* POSSIBILITY OF SUCH DAMAGE.   
+* ------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+ /**    
+ * @addtogroup PID    
+ * @{    
+ */
+
+/**    
+ * @brief  Initialization function for the floating-point PID Control.   
+ * @param[in,out] *S points to an instance of the 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.    
+ */
+
+void arm_pid_init_f32(
+  arm_pid_instance_f32 * S,
+  int32_t resetStateFlag)
+{
+
+  /* Derived coefficient A0 */
+  S->A0 = S->Kp + S->Ki + S->Kd;
+
+  /* Derived coefficient A1 */
+  S->A1 = (-S->Kp) - ((float32_t) 2.0 * S->Kd);
+
+  /* Derived coefficient A2 */
+  S->A2 = S->Kd;
+
+  /* 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(float32_t));
+  }
+
+}
+
+/**    
+ * @} end of PID group    
+ */
diff --git a/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q15.c b/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q15.c
new file mode 100644
index 0000000..c163901
--- /dev/null
+++ b/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q15.c
@@ -0,0 +1,122 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010-2014 ARM Limited. All rights reserved.    
+*    
+* $Date:        19. March 2015
+* $Revision: 	V.1.4.5
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_pid_init_q15.c    
+*    
+* Description:	Q15 PID Control initialization function    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Redistribution and use in source and binary forms, with or without 
+* modification, are permitted provided that the following conditions
+* are met:
+*   - Redistributions of source code must retain the above copyright
+*     notice, this list of conditions and the following disclaimer.
+*   - Redistributions in binary form must reproduce the above copyright
+*     notice, this list of conditions and the following disclaimer in
+*     the documentation and/or other materials provided with the 
+*     distribution.
+*   - Neither the name of ARM LIMITED nor the names of its contributors
+*     may be used to endorse or promote products derived from this
+*     software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 
+* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+* POSSIBILITY OF SUCH DAMAGE.  
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+ /**    
+ * @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.    
+ */
+
+void arm_pid_init_q15(
+  arm_pid_instance_q15 * S,
+  int32_t resetStateFlag)
+{
+
+#ifndef ARM_MATH_CM0_FAMILY
+
+  /* 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));
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  q31_t temp;                                    /*to store the sum */
+
+  /* Derived coefficient A0 */
+  temp = S->Kp + S->Ki + S->Kd;
+  S->A0 = (q15_t) __SSAT(temp, 16);
+
+  /* Derived coefficients and pack into A1 */
+  temp = -(S->Kd + S->Kd + S->Kp);
+  S->A1 = (q15_t) __SSAT(temp, 16);
+  S->A2 = S->Kd;
+
+
+
+  /* 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 /* #ifndef ARM_MATH_CM0_FAMILY */
+
+}
+
+/**    
+ * @} end of PID group    
+ */
diff --git a/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q31.c b/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q31.c
new file mode 100644
index 0000000..012e873
--- /dev/null
+++ b/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q31.c
@@ -0,0 +1,107 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010-2014 ARM Limited. All rights reserved.    
+*    
+* $Date:        19. March 2015
+* $Revision: 	V.1.4.5
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_pid_init_q31.c    
+*    
+* Description:	Q31 PID Control initialization function     
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Redistribution and use in source and binary forms, with or without 
+* modification, are permitted provided that the following conditions
+* are met:
+*   - Redistributions of source code must retain the above copyright
+*     notice, this list of conditions and the following disclaimer.
+*   - Redistributions in binary form must reproduce the above copyright
+*     notice, this list of conditions and the following disclaimer in
+*     the documentation and/or other materials provided with the 
+*     distribution.
+*   - Neither the name of ARM LIMITED nor the names of its contributors
+*     may be used to endorse or promote products derived from this
+*     software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 
+* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+* POSSIBILITY OF SUCH DAMAGE.  
+* ------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+ /**    
+ * @addtogroup PID    
+ * @{    
+ */
+
+/**    
+ * @brief  Initialization function for the Q31 PID Control.   
+ * @param[in,out] *S points to an instance of the Q31 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.    
+ */
+
+void arm_pid_init_q31(
+  arm_pid_instance_q31 * S,
+  int32_t resetStateFlag)
+{
+
+#ifndef ARM_MATH_CM0_FAMILY
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  /* Derived coefficient A0 */
+  S->A0 = __QADD(__QADD(S->Kp, S->Ki), S->Kd);
+
+  /* Derived coefficient A1 */
+  S->A1 = -__QADD(__QADD(S->Kd, S->Kd), S->Kp);
+
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  q31_t temp;
+
+  /* Derived coefficient A0 */
+  temp = clip_q63_to_q31((q63_t) S->Kp + S->Ki);
+  S->A0 = clip_q63_to_q31((q63_t) temp + S->Kd);
+
+  /* Derived coefficient A1 */
+  temp = clip_q63_to_q31((q63_t) S->Kd + S->Kd);
+  S->A1 = -clip_q63_to_q31((q63_t) temp + S->Kp);
+
+#endif /* #ifndef ARM_MATH_CM0_FAMILY */
+
+  /* Derived coefficient A2 */
+  S->A2 = S->Kd;
+
+  /* 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(q31_t));
+  }
+
+}
+
+/**    
+ * @} end of PID group    
+ */
diff --git a/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_f32.c b/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_f32.c
new file mode 100644
index 0000000..081cf0c
--- /dev/null
+++ b/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_f32.c
@@ -0,0 +1,65 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010-2014 ARM Limited. All rights reserved.    
+*    
+* $Date:        19. March 2015
+* $Revision: 	V.1.4.5
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_pid_reset_f32.c    
+*    
+* Description:	Floating-point PID Control reset function   
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Redistribution and use in source and binary forms, with or without 
+* modification, are permitted provided that the following conditions
+* are met:
+*   - Redistributions of source code must retain the above copyright
+*     notice, this list of conditions and the following disclaimer.
+*   - Redistributions in binary form must reproduce the above copyright
+*     notice, this list of conditions and the following disclaimer in
+*     the documentation and/or other materials provided with the 
+*     distribution.
+*   - Neither the name of ARM LIMITED nor the names of its contributors
+*     may be used to endorse or promote products derived from this
+*     software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 
+* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+* POSSIBILITY OF SUCH DAMAGE.   
+* ------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+ /**    
+ * @addtogroup PID    
+ * @{    
+ */
+
+/**    
+* @brief  Reset function for the floating-point PID Control.   
+* @param[in] *S	Instance pointer of PID control data structure.   
+* @return none.    
+* \par Description:   
+* The function resets the state buffer to zeros.    
+*/
+void arm_pid_reset_f32(
+  arm_pid_instance_f32 * S)
+{
+
+  /* Clear the state buffer.  The size will be always 3 samples */
+  memset(S->state, 0, 3u * sizeof(float32_t));
+}
+
+/**    
+ * @} end of PID group    
+ */
diff --git a/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q15.c b/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q15.c
new file mode 100644
index 0000000..4dfe419
--- /dev/null
+++ b/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q15.c
@@ -0,0 +1,64 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010-2014 ARM Limited. All rights reserved.    
+*    
+* $Date:        19. March 2015
+* $Revision: 	V.1.4.5
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_pid_reset_q15.c    
+*    
+* Description:	Q15 PID Control reset function   
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Redistribution and use in source and binary forms, with or without 
+* modification, are permitted provided that the following conditions
+* are met:
+*   - Redistributions of source code must retain the above copyright
+*     notice, this list of conditions and the following disclaimer.
+*   - Redistributions in binary form must reproduce the above copyright
+*     notice, this list of conditions and the following disclaimer in
+*     the documentation and/or other materials provided with the 
+*     distribution.
+*   - Neither the name of ARM LIMITED nor the names of its contributors
+*     may be used to endorse or promote products derived from this
+*     software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 
+* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+* POSSIBILITY OF SUCH DAMAGE. 
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+ /**    
+ * @addtogroup PID    
+ * @{    
+ */
+
+/**    
+* @brief  Reset function for the Q15 PID Control.   
+* @param[in] *S		Instance pointer of PID control data structure.   
+* @return none.    
+* \par Description:   
+* The function resets the state buffer to zeros.    
+*/
+void arm_pid_reset_q15(
+  arm_pid_instance_q15 * S)
+{
+  /* Reset state to zero, The size will be always 3 samples */
+  memset(S->state, 0, 3u * sizeof(q15_t));
+}
+
+/**    
+ * @} end of PID group    
+ */
diff --git a/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q31.c b/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q31.c
new file mode 100644
index 0000000..540a54a
--- /dev/null
+++ b/DSP_Lib/Source/ControllerFunctions/arm_pid_reset_q31.c
@@ -0,0 +1,65 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010-2014 ARM Limited. All rights reserved.    
+*    
+* $Date:        19. March 2015
+* $Revision: 	V.1.4.5
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_pid_reset_q31.c    
+*    
+* Description:	Q31 PID Control reset function   
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Redistribution and use in source and binary forms, with or without 
+* modification, are permitted provided that the following conditions
+* are met:
+*   - Redistributions of source code must retain the above copyright
+*     notice, this list of conditions and the following disclaimer.
+*   - Redistributions in binary form must reproduce the above copyright
+*     notice, this list of conditions and the following disclaimer in
+*     the documentation and/or other materials provided with the 
+*     distribution.
+*   - Neither the name of ARM LIMITED nor the names of its contributors
+*     may be used to endorse or promote products derived from this
+*     software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 
+* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+* POSSIBILITY OF SUCH DAMAGE.    
+* ------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+ /**    
+ * @addtogroup PID    
+ * @{    
+ */
+
+/**    
+* @brief  Reset function for the Q31 PID Control.   
+* @param[in] *S	Instance pointer of PID control data structure.   
+* @return none.    
+* \par Description:   
+* The function resets the state buffer to zeros.    
+*/
+void arm_pid_reset_q31(
+  arm_pid_instance_q31 * S)
+{
+
+  /* Clear the state buffer.  The size will be always 3 samples */
+  memset(S->state, 0, 3u * sizeof(q31_t));
+}
+
+/**    
+ * @} end of PID group    
+ */
diff --git a/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_f32.c b/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_f32.c
new file mode 100644
index 0000000..37d63a8
--- /dev/null
+++ b/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_f32.c
@@ -0,0 +1,149 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010-2014 ARM Limited. All rights reserved.    
+*    
+* $Date:        19. March 2015
+* $Revision: 	V.1.4.5
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_sin_cos_f32.c    
+*    
+* Description:	Sine and Cosine calculation for floating-point values.   
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Redistribution and use in source and binary forms, with or without 
+* modification, are permitted provided that the following conditions
+* are met:
+*   - Redistributions of source code must retain the above copyright
+*     notice, this list of conditions and the following disclaimer.
+*   - Redistributions in binary form must reproduce the above copyright
+*     notice, this list of conditions and the following disclaimer in
+*     the documentation and/or other materials provided with the 
+*     distribution.
+*   - Neither the name of ARM LIMITED nor the names of its contributors
+*     may be used to endorse or promote products derived from this
+*     software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 
+* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+* POSSIBILITY OF SUCH DAMAGE.   
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+#include "arm_common_tables.h"
+
+/**    
+ * @ingroup groupController    
+ */
+
+/**    
+ * @defgroup SinCos Sine Cosine   
+ *    
+ * Computes the trigonometric sine and cosine values using a combination of table lookup   
+ * and linear interpolation.     
+ * There are separate functions for Q31 and floating-point data types.   
+ * The input to the floating-point version is in degrees while the   
+ * fixed-point Q31 have a scaled input with the range   
+ * [-1 0.9999] mapping to [-180 +180] degrees.   
+ *
+ * The floating point function also allows values that are out of the usual range. When this happens, the function will
+ * take extra time to adjust the input value to the range of [-180 180].
+ *   
+ * The implementation is based on table lookup using 360 values together with linear interpolation.   
+ * The steps used are:   
+ *  -# Calculation of the nearest integer table index.   
+ *  -# Compute the fractional portion (fract) of the input.   
+ *  -# Fetch the value corresponding to \c index from sine table to \c y0 and also value from \c index+1 to \c y1.      
+ *  -# Sine value is computed as <code> *psinVal = y0 + (fract * (y1 - y0))</code>.    
+ *  -# Fetch the value corresponding to \c index from cosine table to \c y0 and also value from \c index+1 to \c y1.      
+ *  -# Cosine value is computed as <code> *pcosVal = y0 + (fract * (y1 - y0))</code>.    
+ */
+
+ /**    
+ * @addtogroup SinCos    
+ * @{    
+ */
+
+/**    
+ * @brief  Floating-point sin_cos function.   
+ * @param[in]  theta    input value in degrees    
+ * @param[out] *pSinVal points to the processed sine output.    
+ * @param[out] *pCosVal points to the processed cos output.    
+ * @return none.   
+ */
+
+void arm_sin_cos_f32(
+  float32_t theta,
+  float32_t * pSinVal,
+  float32_t * pCosVal)
+{
+  float32_t fract, in;                             /* Temporary variables for input, output */
+  uint16_t indexS, indexC;                         /* Index variable */
+  float32_t f1, f2, d1, d2;                        /* Two nearest output values */
+  int32_t n;
+  float32_t findex, Dn, Df, temp;
+
+  /* input x is in degrees */
+  /* Scale the input, divide input by 360, for cosine add 0.25 (pi/2) to read sine table */
+  in = theta * 0.00277777777778f;
+
+  /* Calculation of floor value of input */
+  n = (int32_t) in;
+
+  /* Make negative values towards -infinity */
+  if(in < 0.0f)
+  {
+    n--;
+  }
+  /* Map input value to [0 1] */
+  in = in - (float32_t) n;
+
+  /* Calculation of index of the table */
+  findex = (float32_t) FAST_MATH_TABLE_SIZE * in;
+  indexS = ((uint16_t)findex) & 0x1ff;
+  indexC = (indexS + (FAST_MATH_TABLE_SIZE / 4)) & 0x1ff;
+
+  /* fractional value calculation */
+  fract = findex - (float32_t) indexS;
+
+  /* Read two nearest values of input value from the cos & sin tables */
+  f1 = sinTable_f32[indexC+0];
+  f2 = sinTable_f32[indexC+1];
+  d1 = -sinTable_f32[indexS+0];
+  d2 = -sinTable_f32[indexS+1];
+
+  Dn = 0.0122718463030f; // delta between the two points (fixed), in this case 2*pi/FAST_MATH_TABLE_SIZE
+  Df = f2 - f1; // delta between the values of the functions
+  temp = Dn*(d1 + d2) - 2*Df;
+  temp = fract*temp + (3*Df - (d2 + 2*d1)*Dn);
+  temp = fract*temp + d1*Dn;
+
+  /* Calculation of cosine value */
+  *pCosVal = fract*temp + f1;
+  
+  /* Read two nearest values of input value from the cos & sin tables */
+  f1 = sinTable_f32[indexS+0];
+  f2 = sinTable_f32[indexS+1];
+  d1 = sinTable_f32[indexC+0];
+  d2 = sinTable_f32[indexC+1];
+
+  Df = f2 - f1; // delta between the values of the functions
+  temp = Dn*(d1 + d2) - 2*Df;
+  temp = fract*temp + (3*Df - (d2 + 2*d1)*Dn);
+  temp = fract*temp + d1*Dn;
+  
+  /* Calculation of sine value */
+  *pSinVal = fract*temp + f1;
+}
+/**    
+ * @} end of SinCos group    
+ */
diff --git a/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_q31.c b/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_q31.c
new file mode 100644
index 0000000..5e11b0f
--- /dev/null
+++ b/DSP_Lib/Source/ControllerFunctions/arm_sin_cos_q31.c
@@ -0,0 +1,122 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010-2014 ARM Limited. All rights reserved.    
+*    
+* $Date:        19. March 2015
+* $Revision: 	V.1.4.5
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:		arm_sin_cos_q31.c    
+*    
+* Description:	Cosine & Sine calculation for Q31 values.   
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Redistribution and use in source and binary forms, with or without 
+* modification, are permitted provided that the following conditions
+* are met:
+*   - Redistributions of source code must retain the above copyright
+*     notice, this list of conditions and the following disclaimer.
+*   - Redistributions in binary form must reproduce the above copyright
+*     notice, this list of conditions and the following disclaimer in
+*     the documentation and/or other materials provided with the 
+*     distribution.
+*   - Neither the name of ARM LIMITED nor the names of its contributors
+*     may be used to endorse or promote products derived from this
+*     software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 
+* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+* POSSIBILITY OF SUCH DAMAGE.    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+#include "arm_common_tables.h"
+
+/**    
+ * @ingroup groupController    
+ */
+
+ /**    
+ * @addtogroup SinCos    
+ * @{    
+ */
+
+/**    
+ * @brief  Q31 sin_cos function.   
+ * @param[in]  theta    scaled input value in degrees    
+ * @param[out] *pSinVal points to the processed sine output.    
+ * @param[out] *pCosVal points to the processed cosine output.    
+ * @return none.   
+ *    
+ * The Q31 input value is in the range [-1 0.999999] and is mapped to a degree value in the range [-180 179].   
+ *    
+ */
+
+void arm_sin_cos_q31(
+  q31_t theta,
+  q31_t * pSinVal,
+  q31_t * pCosVal)
+{
+  q31_t fract;                                 /* Temporary variables for input, output */
+  uint16_t indexS, indexC;                     /* Index variable */
+  q31_t f1, f2, d1, d2;                        /* Two nearest output values */
+  q31_t Dn, Df;
+  q63_t temp;
+  
+  /* Calculate the nearest index */
+  indexS = (uint32_t)theta >> CONTROLLER_Q31_SHIFT;
+  indexC = (indexS + 128) & 0x1ff;
+
+  /* Calculation of fractional value */
+  fract = (theta - (indexS << CONTROLLER_Q31_SHIFT)) << 8;
+  
+  /* Read two nearest values of input value from the cos & sin tables */
+  f1 = sinTable_q31[indexC+0];
+  f2 = sinTable_q31[indexC+1];
+  d1 = -sinTable_q31[indexS+0];
+  d2 = -sinTable_q31[indexS+1];
+
+  Dn = 0x1921FB5; // delta between the two points (fixed), in this case 2*pi/FAST_MATH_TABLE_SIZE
+  Df = f2 - f1; // delta between the values of the functions
+  temp = Dn*((q63_t)d1 + d2);
+  temp = temp - ((q63_t)Df << 32);
+  temp = (q63_t)fract*(temp >> 31);
+  temp = temp + ((3*(q63_t)Df << 31) - (d2 + ((q63_t)d1 << 1))*Dn);
+  temp = (q63_t)fract*(temp >> 31);
+  temp = temp + (q63_t)d1*Dn;
+  temp = (q63_t)fract*(temp >> 31);
+
+  /* Calculation of cosine value */
+  *pCosVal = clip_q63_to_q31((temp >> 31) + (q63_t)f1);
+  
+  /* Read two nearest values of input value from the cos & sin tables */
+  f1 = sinTable_q31[indexS+0];
+  f2 = sinTable_q31[indexS+1];
+  d1 = sinTable_q31[indexC+0];
+  d2 = sinTable_q31[indexC+1];
+
+  Df = f2 - f1; // delta between the values of the functions
+  temp = Dn*((q63_t)d1 + d2);
+  temp = temp - ((q63_t)Df << 32);
+  temp = (q63_t)fract*(temp >> 31);
+  temp = temp + ((3*(q63_t)Df << 31) - (d2 + ((q63_t)d1 << 1))*Dn);
+  temp = (q63_t)fract*(temp >> 31);
+  temp = temp + (q63_t)d1*Dn;
+  temp = (q63_t)fract*(temp >> 31);
+  
+  /* Calculation of sine value */
+  *pSinVal = clip_q63_to_q31((temp >> 31) + (q63_t)f1);
+}
+
+/**    
+ * @} end of SinCos group    
+ */