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_q15.c | 110 +++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 files changed, 110 insertions(+), 0 deletions(-)
diff --git a/mcu_sdk/gd32f103/rk_eFire/Board/CMSIS/DSP/Source/ControllerFunctions/arm_pid_init_q15.c b/mcu_sdk/gd32f103/rk_eFire/Board/CMSIS/DSP/Source/ControllerFunctions/arm_pid_init_q15.c
new file mode 100644
index 0000000..0f83f35
--- /dev/null
+++ b/mcu_sdk/gd32f103/rk_eFire/Board/CMSIS/DSP/Source/ControllerFunctions/arm_pid_init_q15.c
@@ -0,0 +1,110 @@
+/* ----------------------------------------------------------------------
+ * Project: CMSIS DSP Library
+ * Title: arm_pid_init_q15.c
+ * Description: Q15 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
+ * @{
+ */
+
+/**
+ * @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)
+{
+
+#if defined (ARM_MATH_DSP)
+
+ /* 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 /* #if defined (ARM_MATH_DSP) */
+
+}
+
+/**
+ * @} end of PID group
+ */
--
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