arm_pid_init_q31.c

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/* ----------------------------------------------------------------------      
* Copyright (C) 2011 ARM Limited. All rights reserved. 
*      
* $Date:        15. December 2011   
* $Revision:    V2.0.0  
*      
* Project:      Cortex-R DSP Library 
* Title:        arm_pid_init_q31.c      
*      
* Description:  Q31 PID Control initialization function       
*      
* Target Processor:          Cortex-R4/R5
*
* Version 1.0.0 2011/03/08
*     Alpha release.
*
* Version 1.0.1 2011/09/30
*     Beta release.
*
* Version 2.0.0 2011/12/15
*     Final release. 
* 
* ------------------------------------------------------------------- */     
#include "arm_math.h"     
     
void arm_pid_init_q31(      
  arm_pid_instance_q31 * S,      
  int32_t resetStateFlag)     
{      
  /* 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);      
      
  /* 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(q31_t));      
  }      
      
}