From 4447282260be0780eb6e36f5e953bf56888a5688 Mon Sep 17 00:00:00 2001
From: px4dev <px4@purgatory.org>
Date: Sun, 6 Jan 2013 12:52:05 -0800
Subject: Integrate the interesting parts of the CMSIS 3.01 (r3p1) DSP library

---
 .../Source/ControllerFunctions/arm_pid_init_q15.c  | 114 +++++++++++++++++++++
 1 file changed, 114 insertions(+)
 create mode 100644 apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q15.c

(limited to 'apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q15.c')

diff --git a/apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q15.c b/apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q15.c
new file mode 100644
index 000000000..1816bc9aa
--- /dev/null
+++ b/apps/mathlib/CMSIS/DSP_Lib/Source/ControllerFunctions/arm_pid_init_q15.c
@@ -0,0 +1,114 @@
+/* ----------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:	    arm_pid_init_q15.c    
+*    
+* Description:	Q15 PID Control initialization function    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+* -------------------------------------------------------------------- */
+
+#include "arm_math.h"
+
+ /**    
+ * @addtogroup PID    
+ * @{    
+ */
+
+/**    
+ * @details    
+ * @param[in,out] *S points to an instance of the Q15 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_q15(
+  arm_pid_instance_q15 * S,
+  int32_t resetStateFlag)
+{
+
+#ifndef ARM_MATH_CM0
+
+  /* Run the below code for Cortex-M4 and Cortex-M3 */
+
+  /* Derived coefficient A0 */
+  S->A0 = __QADD16(__QADD16(S->Kp, S->Ki), S->Kd);
+
+  /* Derived coefficients and pack into A1 */
+
+#ifndef  ARM_MATH_BIG_ENDIAN
+
+  S->A1 = __PKHBT(-__QADD16(__QADD16(S->Kd, S->Kd), S->Kp), S->Kd, 16);
+
+#else
+
+  S->A1 = __PKHBT(S->Kd, -__QADD16(__QADD16(S->Kd, S->Kd), S->Kp), 16);
+
+#endif /*      #ifndef  ARM_MATH_BIG_ENDIAN    */
+
+  /* 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(q15_t));
+  }
+
+#else
+
+  /* Run the below code for Cortex-M0 */
+
+  q31_t temp;                                    /*to store the sum */
+
+  /* Derived coefficient A0 */
+  temp = S->Kp + S->Ki + S->Kd;
+  S->A0 = (q15_t) __SSAT(temp, 16);
+
+  /* Derived coefficients and pack into A1 */
+  temp = -(S->Kd + S->Kd + S->Kp);
+  S->A1 = (q15_t) __SSAT(temp, 16);
+  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(q15_t));
+  }
+
+#endif /* #ifndef ARM_MATH_CM0 */
+
+}
+
+/**    
+ * @} end of PID group    
+ */
-- 
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