arm_pid_init_f32.c 3.2 KB

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  1. /* ----------------------------------------------------------------------
  2. * Copyright (C) 2010-2014 ARM Limited. All rights reserved.
  3. *
  4. * $Date: 12. March 2014
  5. * $Revision: V1.4.4
  6. *
  7. * Project: CMSIS DSP Library
  8. * Title: arm_pid_init_f32.c
  9. *
  10. * Description: Floating-point PID Control initialization function
  11. *
  12. *
  13. * Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
  14. *
  15. * Redistribution and use in source and binary forms, with or without
  16. * modification, are permitted provided that the following conditions
  17. * are met:
  18. * - Redistributions of source code must retain the above copyright
  19. * notice, this list of conditions and the following disclaimer.
  20. * - Redistributions in binary form must reproduce the above copyright
  21. * notice, this list of conditions and the following disclaimer in
  22. * the documentation and/or other materials provided with the
  23. * distribution.
  24. * - Neither the name of ARM LIMITED nor the names of its contributors
  25. * may be used to endorse or promote products derived from this
  26. * software without specific prior written permission.
  27. *
  28. * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
  29. * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
  30. * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
  31. * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
  32. * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
  33. * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
  34. * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
  35. * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
  36. * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
  37. * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
  38. * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  39. * POSSIBILITY OF SUCH DAMAGE.
  40. * ------------------------------------------------------------------- */
  41. #include "arm_math.h"
  42. /**
  43. * @addtogroup PID
  44. * @{
  45. */
  46. /**
  47. * @brief Initialization function for the floating-point PID Control.
  48. * @param[in,out] *S points to an instance of the PID structure.
  49. * @param[in] resetStateFlag flag to reset the state. 0 = no change in state & 1 = reset the state.
  50. * @return none.
  51. * \par Description:
  52. * \par
  53. * The <code>resetStateFlag</code> specifies whether to set state to zero or not. \n
  54. * The function computes the structure fields: <code>A0</code>, <code>A1</code> <code>A2</code>
  55. * using the proportional gain( \c Kp), integral gain( \c Ki) and derivative gain( \c Kd)
  56. * also sets the state variables to all zeros.
  57. */
  58. void arm_pid_init_f32(
  59. arm_pid_instance_f32 * S,
  60. int32_t resetStateFlag)
  61. {
  62. /* Derived coefficient A0 */
  63. S->A0 = S->Kp + S->Ki + S->Kd;
  64. /* Derived coefficient A1 */
  65. S->A1 = (-S->Kp) - ((float32_t) 2.0 * S->Kd);
  66. /* Derived coefficient A2 */
  67. S->A2 = S->Kd;
  68. /* Check whether state needs reset or not */
  69. if(resetStateFlag)
  70. {
  71. /* Clear the state buffer. The size will be always 3 samples */
  72. memset(S->state, 0, 3u * sizeof(float32_t));
  73. }
  74. }
  75. /**
  76. * @} end of PID group
  77. */