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/* ----------------------------------------------------------------------
* Project: CMSIS DSP Library
* Title: arm_pid_init_q31.c
* Description: Q31 PID Control initialization function
*
* $Date: 18. March 2019
* $Revision: V1.6.0
*
* Target Processor: Cortex-M cores
* -------------------------------------------------------------------- */
/*
* Copyright (C) 2010-2019 ARM Limited or its affiliates. All rights reserved.
*
* SPDX-License-Identifier: Apache-2.0
*
* Licensed under the Apache License, Version 2.0 (the License); you may
* not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an AS IS BASIS, WITHOUT
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#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
- 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(
arm_pid_instance_q31 * S,
int32_t resetStateFlag)
{
#if defined (ARM_MATH_DSP)
/* 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
q31_t temp; /* to store the sum */
/* 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 /* #if defined (ARM_MATH_DSP) */
/* Derived coefficient A2 */
S->A2 = S->Kd;
/* Check whether state needs reset or not */
if (resetStateFlag)
{
/* Reset state to zero, The size will be always 3 samples */
memset(S->state, 0, 3U * sizeof(q31_t));
}
}
/**
@} end of PID group
*/
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