diff options
Diffstat (limited to 'DSP/Source/ControllerFunctions/arm_pid_init_q31.c')
| -rw-r--r-- | DSP/Source/ControllerFunctions/arm_pid_init_q31.c | 45 |
1 files changed, 21 insertions, 24 deletions
diff --git a/DSP/Source/ControllerFunctions/arm_pid_init_q31.c b/DSP/Source/ControllerFunctions/arm_pid_init_q31.c index 17b3b09..1625a5f 100644 --- a/DSP/Source/ControllerFunctions/arm_pid_init_q31.c +++ b/DSP/Source/ControllerFunctions/arm_pid_init_q31.c @@ -3,13 +3,13 @@ * Title: arm_pid_init_q31.c * Description: Q31 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 + @{ */ /** - * @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. + @brief Initialization function for the Q31 PID Control. + @param[in,out] S points to an instance of the Q31 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_q31( @@ -53,20 +55,15 @@ void arm_pid_init_q31( #if defined (ARM_MATH_DSP) - /* 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; + q31_t temp; /* to store the sum */ /* Derived coefficient A0 */ temp = clip_q63_to_q31((q63_t) S->Kp + S->Ki); @@ -84,12 +81,12 @@ void arm_pid_init_q31( /* 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(q31_t)); } } /** - * @} end of PID group + @} end of PID group */ |