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/Source/ControllerFunctions/arm_pid_init_f32.c | 74 +++++++++++++++++++++++++++++++++++++
1 files changed, 74 insertions(+), 0 deletions(-)
diff --git a/mcu_sdk/gd32f103/rk_eFire/Board/CMSIS/DSP/Source/ControllerFunctions/arm_pid_init_f32.c b/mcu_sdk/gd32f103/rk_eFire/Board/CMSIS/DSP/Source/ControllerFunctions/arm_pid_init_f32.c
new file mode 100644
index 0000000..e729500
--- /dev/null
+++ b/mcu_sdk/gd32f103/rk_eFire/Board/CMSIS/DSP/Source/ControllerFunctions/arm_pid_init_f32.c
@@ -0,0 +1,74 @@
+/* ----------------------------------------------------------------------
+ * Project: CMSIS DSP Library
+ * Title: arm_pid_init_f32.c
+ * Description: Floating-point PID Control initialization function
+ *
+ * $Date: 27. January 2017
+ * $Revision: V.1.5.1
+ *
+ * Target Processor: Cortex-M cores
+ * -------------------------------------------------------------------- */
+/*
+ * Copyright (C) 2010-2017 ARM Limited or its affiliates. All rights reserved.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 (the License); you may
+ * not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an AS IS BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "arm_math.h"
+
+ /**
+ * @addtogroup PID
+ * @{
+ */
+
+/**
+ * @brief Initialization function for the floating-point PID Control.
+ * @param[in,out] *S points to an instance of the 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_f32(
+ arm_pid_instance_f32 * S,
+ int32_t resetStateFlag)
+{
+
+ /* Derived coefficient A0 */
+ S->A0 = S->Kp + S->Ki + S->Kd;
+
+ /* Derived coefficient A1 */
+ S->A1 = (-S->Kp) - ((float32_t) 2.0 * S->Kd);
+
+ /* 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(float32_t));
+ }
+
+}
+
+/**
+ * @} end of PID group
+ */
--
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