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Diffstat (limited to 'DSP_Lib/Source/ControllerFunctions/arm_pid_init_q15.c')
| -rw-r--r-- | DSP_Lib/Source/ControllerFunctions/arm_pid_init_q15.c | 122 |
1 files changed, 0 insertions, 122 deletions
diff --git a/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q15.c b/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q15.c deleted file mode 100644 index c163901..0000000 --- a/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q15.c +++ /dev/null @@ -1,122 +0,0 @@ -/* ---------------------------------------------------------------------- -* 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 - */ |