75 lines
2.2 KiB
C
75 lines
2.2 KiB
C
/* ----------------------------------------------------------------------
|
|
* Project: CMSIS DSP Library
|
|
* Title: arm_pid_init_f32.c
|
|
* Description: Floating-point PID Control initialization function
|
|
*
|
|
* $Date: 27. January 2017
|
|
* $Revision: V.1.5.1
|
|
*
|
|
* Target Processor: Cortex-M cores
|
|
* -------------------------------------------------------------------- */
|
|
/*
|
|
* Copyright (C) 2010-2017 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 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
|
|
*/
|