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# arm_pid_init_q15.c

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    00001 /* ----------------------------------------------------------------------
    00002 * Copyright (C) 2010 ARM Limited. All rights reserved.
    00003 *
    00004 * $Date:        29. November 2010
    00005 * $Revision:    V1.0.3
    00006 *
    00007 * Project:      CMSIS DSP Library
    00008 * Title:        arm_pid_init_q15.c
    00009 *
    00010 * Description:  Q15 PID Control initialization function
    00011 *
    00012 * Target Processor: Cortex-M4/Cortex-M3
    00013 *
    00014 * Version 1.0.3 2010/11/29
    00015 *    Re-organized the CMSIS folders and updated documentation.
    00016 *
    00017 * Version 1.0.2 2010/11/11
    00018 *    Documentation updated.
    00019 *
    00020 * Version 1.0.1 2010/10/05
    00021 *    Production release and review comments incorporated.
    00022 *
    00023 * Version 1.0.0 2010/09/20
    00024 *    Production release and review comments incorporated.
    00025 * -------------------------------------------------------------------- */
    00026
    00027 #include "arm_math.h"
    00028
    00047 void arm_pid_init_q15(
    00048   arm_pid_instance_q15 * S,
    00049   int32_t resetStateFlag)
    00050 {
    00051   /* Derived coefficient A0 */
    00052   S->A0 = __QADD16(__QADD16(S->Kp, S->Ki), S->Kd);
    00053
    00054   /* Derived coefficients and pack into A1 */
    00055   S->A1 = __PKHBT(-__QADD16(__QADD16(S->Kd, S->Kd), S->Kp), S->Kd, 16);
    00056
    00057   /* Check whether state needs reset or not */
    00058   if(resetStateFlag)
    00059   {
    00060     /* Clear the state buffer.  The size will be always 3 samples */
    00061     memset(S->state, 0, 3u * sizeof(q15_t));
    00062   }
    00063
    00064 }
    00065

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