From aa38e5c1f48e31213ee349aa5cd6f06c85bda70d Mon Sep 17 00:00:00 2001
From: android <android@lingyun.com>
Date: Tue, 25 Jun 2024 21:49:39 +0800
Subject: [PATCH] Add GD32F103RCT6 ADC converter board SDK source code
---
mcu_sdk/gd32f103/rk_eFire/Board/CMSIS/DSP/DSP_Lib_TestSuite/RefLibs/src/ControllerFunctions/pid.c | 97 ++++++++++++++++++++++++++++++++++++++++++++++++
1 files changed, 97 insertions(+), 0 deletions(-)
diff --git a/mcu_sdk/gd32f103/rk_eFire/Board/CMSIS/DSP/DSP_Lib_TestSuite/RefLibs/src/ControllerFunctions/pid.c b/mcu_sdk/gd32f103/rk_eFire/Board/CMSIS/DSP/DSP_Lib_TestSuite/RefLibs/src/ControllerFunctions/pid.c
new file mode 100644
index 0000000..51aa633
--- /dev/null
+++ b/mcu_sdk/gd32f103/rk_eFire/Board/CMSIS/DSP/DSP_Lib_TestSuite/RefLibs/src/ControllerFunctions/pid.c
@@ -0,0 +1,97 @@
+#include "ref.h"
+
+float32_t ref_pid_f32(
+ arm_pid_instance_f32 * S,
+ float32_t in)
+{
+ float32_t out;
+
+ /* y[n] = y[n-1] + A0 * x[n] + A1 * x[n-1] + A2 * x[n-2] */
+ out = S->state[2] + S->A0 * in + S->A1 * S->state[0] + S->A2 * S->state[1];
+
+ /* Update state */
+ S->state[1] = S->state[0];
+ S->state[0] = in;
+ S->state[2] = out;
+
+ /* return to application */
+ return (out);
+}
+
+q31_t ref_pid_q31(
+ arm_pid_instance_q31 * S,
+ q31_t in)
+{
+ q63_t acc;
+ q31_t out;
+
+ /* acc = A0 * x[n] */
+ acc = (q63_t) S->A0 * in;
+
+ /* acc += A1 * x[n-1] */
+ acc += (q63_t) S->A1 * S->state[0];
+
+ /* acc += A2 * x[n-2] */
+ acc += (q63_t) S->A2 * S->state[1];
+
+ /* convert output to 1.31 format to add y[n-1] */
+ out = (q31_t) (acc >> 31U);
+
+ /* out += y[n-1] */
+ out += S->state[2];
+
+ /* Update state */
+ S->state[1] = S->state[0];
+ S->state[0] = in;
+ S->state[2] = out;
+
+ /* return to application */
+ return (out);
+}
+
+q15_t ref_pid_q15(
+ arm_pid_instance_q15 * S,
+ q15_t in)
+{
+ q63_t acc;
+ q15_t out;
+ q15_t A1, A2;
+
+#if defined (ARM_MATH_DSP)
+
+#ifndef ARM_MATH_BIG_ENDIAN
+ A2 = S->A1 >> 16;
+ A1 = (q15_t)S->A1;
+#else
+ A1 = S->A1 >> 16;
+ A2 = (q15_t)S->A1;
+#endif
+
+#else
+
+ A1 = S->A1;
+ A2 = S->A2;
+
+#endif
+
+ /* acc = A0 * x[n] */
+ acc = ((q31_t) S->A0) * in;
+
+ /* acc += A1 * x[n-1] + A2 * x[n-2] */
+ acc += (q31_t) A1 * S->state[0];
+ acc += (q31_t) A2 * S->state[1];
+
+ /* acc += y[n-1] */
+ acc += (q31_t) S->state[2] << 15;
+
+ /* saturate the output */
+ out = ref_sat_q15(acc >> 15);
+
+ /* Update state */
+ S->state[1] = S->state[0];
+ S->state[0] = in;
+ S->state[2] = out;
+
+ /* return to application */
+ return (out);
+}
--
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