Cortex-R DSP Software Library: arm_pid_init

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00001 /* ----------------------------------------------------------------------      
00002 * Copyright (C) 2011 ARM Limited. All rights reserved. 
00003 *      
00004 * $Date:        15. December 2011   
00005 * $Revision:    V2.0.0  
00006 *      
00007 * Project:      Cortex-R DSP Library 
00008 * Title:        arm_pid_init_f32.c      
00009 *      
00010 * Description:  Floating-point PID Control initialization function      
00011 *      
00012 * Target Processor:          Cortex-R4/R5
00013 *
00014 * Version 1.0.0 2011/03/08
00015 *     Alpha release.
00016 *
00017 * Version 1.0.1 2011/09/30
00018 *     Beta release.
00019 *
00020 * Version 2.0.0 2011/12/15
00021 *     Final release. 
00022 * 
00023 * ------------------------------------------------------------------- */     
00024 #include "arm_math.h"     
00025      
00044 void arm_pid_init_f32(      
00045   arm_pid_instance_f32 * S,      
00046   int32_t resetStateFlag)     
00047 {      
00048       
00049   /* Derived coefficient A0 */      
00050   S->A0 = S->Kp + S->Ki + S->Kd;      
00051       
00052   /* Derived coefficient A1 */      
00053   S->A1 = (-S->Kp) - ((float32_t) 2.0 * S->Kd);      
00054       
00055   /* Derived coefficient A2 */      
00056   S->A2 = S->Kd;      
00057       
00058   /* Check whether state needs reset or not */      
00059   if(resetStateFlag)     
00060   {      
00061     /* Clear the state buffer.  The size will be always 3 samples */      
00062     memset(S->state, 0, 3u * sizeof(float32_t));      
00063   }      
00064       
00065 }      
00066