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Diffstat (limited to 'Drivers/CMSIS/docs/DSP/html/group__PID.html')
| -rw-r--r-- | Drivers/CMSIS/docs/DSP/html/group__PID.html | 131 |
1 files changed, 60 insertions, 71 deletions
diff --git a/Drivers/CMSIS/docs/DSP/html/group__PID.html b/Drivers/CMSIS/docs/DSP/html/group__PID.html index 7617f51cc..3c5285091 100644 --- a/Drivers/CMSIS/docs/DSP/html/group__PID.html +++ b/Drivers/CMSIS/docs/DSP/html/group__PID.html @@ -32,7 +32,7 @@ <td id="projectlogo"><img alt="Logo" src="CMSIS_Logo_Final.png"/></td> <td style="padding-left: 0.5em;"> <div id="projectname">CMSIS-DSP -  <span id="projectnumber">Version 1.5.2</span> +  <span id="projectnumber">Version 1.7.0</span> </div> <div id="projectbrief">CMSIS DSP Software Library</div> </td> @@ -116,16 +116,15 @@ $(document).ready(function(){initNavTree('group__PID.html','');}); <table class="memberdecls"> <tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="func-members"></a> Functions</h2></td></tr> -<tr class="memitem:ga9380d08046dd7ec2f5015f569206b9ce"><td class="memItemLeft" align="right" valign="top">CMSIS_INLINE __STATIC_INLINE <br class="typebreak"/> -<a class="el" href="arm__math_8h.html#a4611b605e45ab401f02cab15c5e38715">float32_t</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__PID.html#ga9380d08046dd7ec2f5015f569206b9ce">arm_pid_f32</a> (<a class="el" href="structarm__pid__instance__f32.html">arm_pid_instance_f32</a> *S, <a class="el" href="arm__math_8h.html#a4611b605e45ab401f02cab15c5e38715">float32_t</a> in)</td></tr> -<tr class="memdesc:ga9380d08046dd7ec2f5015f569206b9ce"><td class="mdescLeft"> </td><td class="mdescRight">Process function for the floating-point PID Control. <a href="#ga9380d08046dd7ec2f5015f569206b9ce">More...</a><br/></td></tr> -<tr class="separator:ga9380d08046dd7ec2f5015f569206b9ce"><td class="memSeparator" colspan="2"> </td></tr> -<tr class="memitem:ga82bc0813c007d50ce308b9b0bf3c76e2"><td class="memItemLeft" align="right" valign="top">CMSIS_INLINE __STATIC_INLINE <a class="el" href="arm__math_8h.html#adc89a3547f5324b7b3b95adec3806bc0">q31_t</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__PID.html#ga82bc0813c007d50ce308b9b0bf3c76e2">arm_pid_q31</a> (<a class="el" href="structarm__pid__instance__q31.html">arm_pid_instance_q31</a> *S, <a class="el" href="arm__math_8h.html#adc89a3547f5324b7b3b95adec3806bc0">q31_t</a> in)</td></tr> -<tr class="memdesc:ga82bc0813c007d50ce308b9b0bf3c76e2"><td class="mdescLeft"> </td><td class="mdescRight">Process function for the Q31 PID Control. <a href="#ga82bc0813c007d50ce308b9b0bf3c76e2">More...</a><br/></td></tr> -<tr class="separator:ga82bc0813c007d50ce308b9b0bf3c76e2"><td class="memSeparator" colspan="2"> </td></tr> -<tr class="memitem:gad466471a6b0f8fc570b8b8fc34ac79fa"><td class="memItemLeft" align="right" valign="top">CMSIS_INLINE __STATIC_INLINE <a class="el" href="arm__math_8h.html#ab5a8fb21a5b3b983d5f54f31614052ea">q15_t</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__PID.html#gad466471a6b0f8fc570b8b8fc34ac79fa">arm_pid_q15</a> (<a class="el" href="structarm__pid__instance__q15.html">arm_pid_instance_q15</a> *S, <a class="el" href="arm__math_8h.html#ab5a8fb21a5b3b983d5f54f31614052ea">q15_t</a> in)</td></tr> -<tr class="memdesc:gad466471a6b0f8fc570b8b8fc34ac79fa"><td class="mdescLeft"> </td><td class="mdescRight">Process function for the Q15 PID Control. <a href="#gad466471a6b0f8fc570b8b8fc34ac79fa">More...</a><br/></td></tr> -<tr class="separator:gad466471a6b0f8fc570b8b8fc34ac79fa"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:ga5a6865ed706b7dd969ef0bd58a61f306"><td class="memItemLeft" align="right" valign="top">__STATIC_FORCEINLINE <a class="el" href="arm__math_8h.html#a4611b605e45ab401f02cab15c5e38715">float32_t</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__PID.html#ga5a6865ed706b7dd969ef0bd58a61f306">arm_pid_f32</a> (<a class="el" href="structarm__pid__instance__f32.html">arm_pid_instance_f32</a> *S, <a class="el" href="arm__math_8h.html#a4611b605e45ab401f02cab15c5e38715">float32_t</a> in)</td></tr> +<tr class="memdesc:ga5a6865ed706b7dd969ef0bd58a61f306"><td class="mdescLeft"> </td><td class="mdescRight">Process function for the floating-point PID Control. <a href="#ga5a6865ed706b7dd969ef0bd58a61f306">More...</a><br/></td></tr> +<tr class="separator:ga5a6865ed706b7dd969ef0bd58a61f306"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:ga9ead8b3180125fb42879389477b99dc8"><td class="memItemLeft" align="right" valign="top">__STATIC_FORCEINLINE <a class="el" href="arm__math_8h.html#adc89a3547f5324b7b3b95adec3806bc0">q31_t</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__PID.html#ga9ead8b3180125fb42879389477b99dc8">arm_pid_q31</a> (<a class="el" href="structarm__pid__instance__q31.html">arm_pid_instance_q31</a> *S, <a class="el" href="arm__math_8h.html#adc89a3547f5324b7b3b95adec3806bc0">q31_t</a> in)</td></tr> +<tr class="memdesc:ga9ead8b3180125fb42879389477b99dc8"><td class="mdescLeft"> </td><td class="mdescRight">Process function for the Q31 PID Control. <a href="#ga9ead8b3180125fb42879389477b99dc8">More...</a><br/></td></tr> +<tr class="separator:ga9ead8b3180125fb42879389477b99dc8"><td class="memSeparator" colspan="2"> </td></tr> +<tr class="memitem:ga7ecc87208cb297fb9a31cec4f18bb54e"><td class="memItemLeft" align="right" valign="top">__STATIC_FORCEINLINE <a class="el" href="arm__math_8h.html#ab5a8fb21a5b3b983d5f54f31614052ea">q15_t</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__PID.html#ga7ecc87208cb297fb9a31cec4f18bb54e">arm_pid_q15</a> (<a class="el" href="structarm__pid__instance__q15.html">arm_pid_instance_q15</a> *S, <a class="el" href="arm__math_8h.html#ab5a8fb21a5b3b983d5f54f31614052ea">q15_t</a> in)</td></tr> +<tr class="memdesc:ga7ecc87208cb297fb9a31cec4f18bb54e"><td class="mdescLeft"> </td><td class="mdescRight">Process function for the Q15 PID Control. <a href="#ga7ecc87208cb297fb9a31cec4f18bb54e">More...</a><br/></td></tr> +<tr class="separator:ga7ecc87208cb297fb9a31cec4f18bb54e"><td class="memSeparator" colspan="2"> </td></tr> <tr class="memitem:gae31536b19b82b93ed184fb1ab73cfcb3"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="group__PID.html#gae31536b19b82b93ed184fb1ab73cfcb3">arm_pid_init_f32</a> (<a class="el" href="structarm__pid__instance__f32.html">arm_pid_instance_f32</a> *S, int32_t resetStateFlag)</td></tr> <tr class="memdesc:gae31536b19b82b93ed184fb1ab73cfcb3"><td class="mdescLeft"> </td><td class="mdescRight">Initialization function for the floating-point PID Control. <a href="#gae31536b19b82b93ed184fb1ab73cfcb3">More...</a><br/></td></tr> <tr class="separator:gae31536b19b82b93ed184fb1ab73cfcb3"><td class="memSeparator" colspan="2"> </td></tr> @@ -152,7 +151,8 @@ Functions</h2></td></tr> y[n] = y[n-1] + A0 * x[n] + A1 * x[n-1] + A2 * x[n-2] A0 = Kp + Ki + Kd A1 = (-Kp ) - (2 * Kd ) - A2 = Kd </pre></dd></dl> + A2 = Kd +</pre></dd></dl> <dl class="section user"><dt></dt><dd>where <code>Kp</code> is proportional constant, <code>Ki</code> is Integral constant and <code>Kd</code> is Derivative constant</dd></dl> <dl class="section user"><dt></dt><dd><div class="image"> <img src="PID.gif" alt="PID.gif"/> @@ -170,12 +170,12 @@ Proportional Integral Derivative Controller</div></div> <dl class="section user"><dt></dt><dd>Instance structure cannot be placed into a const data section and it is recommended to use the initialization function.</dd></dl> <dl class="section user"><dt>Fixed-Point Behavior</dt><dd>Care must be taken when using the fixed-point versions of the PID Controller functions. In particular, the overflow and saturation behavior of the accumulator used in each function must be considered. Refer to the function specific documentation below for usage guidelines. </dd></dl> <h2 class="groupheader">Function Documentation</h2> -<a class="anchor" id="ga9380d08046dd7ec2f5015f569206b9ce"></a> +<a class="anchor" id="ga5a6865ed706b7dd969ef0bd58a61f306"></a> <div class="memitem"> <div class="memproto"> <table class="memname"> <tr> - <td class="memname">CMSIS_INLINE __STATIC_INLINE <a class="el" href="arm__math_8h.html#a4611b605e45ab401f02cab15c5e38715">float32_t</a> arm_pid_f32 </td> + <td class="memname">__STATIC_FORCEINLINE <a class="el" href="arm__math_8h.html#a4611b605e45ab401f02cab15c5e38715">float32_t</a> arm_pid_f32 </td> <td>(</td> <td class="paramtype"><a class="el" href="structarm__pid__instance__f32.html">arm_pid_instance_f32</a> * </td> <td class="paramname"><em>S</em>, </td> @@ -200,9 +200,7 @@ Proportional Integral Derivative Controller</div></div> </table> </dd> </dl> -<dl class="section return"><dt>Returns</dt><dd>out processed output sample. </dd></dl> - -<p>References <a class="el" href="structarm__pid__instance__f32.html#ad7b0bed64915d0a25a3409fa2dc45556">arm_pid_instance_f32::A0</a>, <a class="el" href="structarm__pid__instance__f32.html#a7def89571c50f7137a213326a396e560">arm_pid_instance_f32::A1</a>, <a class="el" href="structarm__pid__instance__f32.html#a155acf642ba2f521869f19d694cd7fa0">arm_pid_instance_f32::A2</a>, and <a class="el" href="structarm__pid__instance__f32.html#afd394e1e52fb1d526aa472c83b8f2464">arm_pid_instance_f32::state</a>.</p> +<dl class="section return"><dt>Returns</dt><dd>processed output sample. </dd></dl> </div> </div> @@ -231,17 +229,18 @@ Proportional Integral Derivative Controller</div></div> </div><div class="memdoc"> <dl class="params"><dt>Parameters</dt><dd> <table class="params"> - <tr><td class="paramdir">[in,out]</td><td class="paramname">*S</td><td>points to an instance of the PID structure. </td></tr> - <tr><td class="paramdir">[in]</td><td class="paramname">resetStateFlag</td><td>flag to reset the state. 0 = no change in state & 1 = reset the state. </td></tr> + <tr><td class="paramdir">[in,out]</td><td class="paramname">S</td><td>points to an instance of the PID structure </td></tr> + <tr><td class="paramdir">[in]</td><td class="paramname">resetStateFlag</td><td><ul> +<li>value = 0: no change in state</li> +<li>value = 1: reset state </li> +</ul> +</td></tr> </table> </dd> </dl> -<dl class="section return"><dt>Returns</dt><dd>none. </dd></dl> -<dl class="section user"><dt>Description:</dt><dd></dd></dl> -<dl class="section user"><dt></dt><dd>The <code>resetStateFlag</code> specifies whether to set state to zero or not. <br/> -The function computes the structure fields: <code>A0</code>, <code>A1</code> <code>A2</code> using the proportional gain( <code>Kp</code>), integral gain( <code>Ki</code>) and derivative gain( <code>Kd</code>) also sets the state variables to all zeros. </dd></dl> - -<p>References <a class="el" href="structarm__pid__instance__f32.html#ad7b0bed64915d0a25a3409fa2dc45556">arm_pid_instance_f32::A0</a>, <a class="el" href="structarm__pid__instance__f32.html#a7def89571c50f7137a213326a396e560">arm_pid_instance_f32::A1</a>, <a class="el" href="structarm__pid__instance__f32.html#a155acf642ba2f521869f19d694cd7fa0">arm_pid_instance_f32::A2</a>, <a class="el" href="structarm__pid__instance__f32.html#ad5b68fbf84d16188ae4747ff91f6f088">arm_pid_instance_f32::Kd</a>, <a class="el" href="structarm__pid__instance__f32.html#ac0feffde05fe391eeab3bf78e953830a">arm_pid_instance_f32::Ki</a>, <a class="el" href="structarm__pid__instance__f32.html#aa9b9aa9e413c6cec376a9dddc9f01ebe">arm_pid_instance_f32::Kp</a>, and <a class="el" href="structarm__pid__instance__f32.html#afd394e1e52fb1d526aa472c83b8f2464">arm_pid_instance_f32::state</a>.</p> +<dl class="section return"><dt>Returns</dt><dd>none</dd></dl> +<dl class="section user"><dt>Details</dt><dd>The <code>resetStateFlag</code> specifies whether to set state to zero or not. <br/> + The function computes the structure fields: <code>A0</code>, <code>A1</code> <code>A2</code> using the proportional gain( <code>Kp</code>), integral gain( <code>Ki</code>) and derivative gain( <code>Kd</code>) also sets the state variables to all zeros. </dd></dl> </div> </div> @@ -270,17 +269,18 @@ The function computes the structure fields: <code>A0</code>, <code>A1</code> <co </div><div class="memdoc"> <dl class="params"><dt>Parameters</dt><dd> <table class="params"> - <tr><td class="paramdir">[in,out]</td><td class="paramname">*S</td><td>points to an instance of the Q15 PID structure. </td></tr> - <tr><td class="paramdir">[in]</td><td class="paramname">resetStateFlag</td><td>flag to reset the state. 0 = no change in state 1 = reset the state. </td></tr> + <tr><td class="paramdir">[in,out]</td><td class="paramname">S</td><td>points to an instance of the Q15 PID structure </td></tr> + <tr><td class="paramdir">[in]</td><td class="paramname">resetStateFlag</td><td><ul> +<li>value = 0: no change in state</li> +<li>value = 1: reset state </li> +</ul> +</td></tr> </table> </dd> </dl> -<dl class="section return"><dt>Returns</dt><dd>none. </dd></dl> -<dl class="section user"><dt>Description:</dt><dd></dd></dl> -<dl class="section user"><dt></dt><dd>The <code>resetStateFlag</code> specifies whether to set state to zero or not. <br/> -The function computes the structure fields: <code>A0</code>, <code>A1</code> <code>A2</code> using the proportional gain( <code>Kp</code>), integral gain( <code>Ki</code>) and derivative gain( <code>Kd</code>) also sets the state variables to all zeros. </dd></dl> - -<p>References <a class="el" href="arm__math_8h.html#aa505179349146cf6186640b4c8b47714">__PKHBT</a>, <a class="el" href="arm__math_8h.html#a08bea9cb2c311d925224c0d6829edb8c">__QADD16()</a>, <a class="el" href="structarm__pid__instance__q15.html#ad77f3a2823c7f96de42c92a3fbf3246b">arm_pid_instance_q15::A0</a>, <a class="el" href="structarm__pid__instance__q15.html#ad8ac5ff736c0e51180398c31f777f18a">arm_pid_instance_q15::A1</a>, <a class="el" href="structarm__pid__instance__q15.html#a33e8b4c2d3e24b8b494f6edca6a89c1b">arm_pid_instance_q15::A2</a>, <a class="el" href="structarm__pid__instance__q15.html#af5d4b53091f19eff7536636b7cc43111">arm_pid_instance_q15::Kd</a>, <a class="el" href="structarm__pid__instance__q15.html#a0dcc19d5c8f7bc401acea9e8318cd777">arm_pid_instance_q15::Ki</a>, <a class="el" href="structarm__pid__instance__q15.html#ad228aae24a1b6d855c93a8b9bbc1c4f1">arm_pid_instance_q15::Kp</a>, and <a class="el" href="structarm__pid__instance__q15.html#a4a3f0a878b5b6b055e3478a2f244cd30">arm_pid_instance_q15::state</a>.</p> +<dl class="section return"><dt>Returns</dt><dd>none</dd></dl> +<dl class="section user"><dt>Details</dt><dd>The <code>resetStateFlag</code> specifies whether to set state to zero or not. <br/> + The function computes the structure fields: <code>A0</code>, <code>A1</code> <code>A2</code> using the proportional gain( <code>Kp</code>), integral gain( <code>Ki</code>) and derivative gain( <code>Kd</code>) also sets the state variables to all zeros. </dd></dl> </div> </div> @@ -309,26 +309,27 @@ The function computes the structure fields: <code>A0</code>, <code>A1</code> <co </div><div class="memdoc"> <dl class="params"><dt>Parameters</dt><dd> <table class="params"> - <tr><td class="paramdir">[in,out]</td><td class="paramname">*S</td><td>points to an instance of the Q31 PID structure. </td></tr> - <tr><td class="paramdir">[in]</td><td class="paramname">resetStateFlag</td><td>flag to reset the state. 0 = no change in state 1 = reset the state. </td></tr> + <tr><td class="paramdir">[in,out]</td><td class="paramname">S</td><td>points to an instance of the Q31 PID structure </td></tr> + <tr><td class="paramdir">[in]</td><td class="paramname">resetStateFlag</td><td><ul> +<li>value = 0: no change in state</li> +<li>value = 1: reset state </li> +</ul> +</td></tr> </table> </dd> </dl> -<dl class="section return"><dt>Returns</dt><dd>none. </dd></dl> -<dl class="section user"><dt>Description:</dt><dd></dd></dl> -<dl class="section user"><dt></dt><dd>The <code>resetStateFlag</code> specifies whether to set state to zero or not. <br/> -The function computes the structure fields: <code>A0</code>, <code>A1</code> <code>A2</code> using the proportional gain( <code>Kp</code>), integral gain( <code>Ki</code>) and derivative gain( <code>Kd</code>) also sets the state variables to all zeros. </dd></dl> - -<p>References <a class="el" href="arm__math_8h.html#ab9f3cfbfb0f12975ab91ddb179160dcb">__QADD()</a>, <a class="el" href="structarm__pid__instance__q31.html#aa5332635ce9c7078cdb4c1ecf442eadd">arm_pid_instance_q31::A0</a>, <a class="el" href="structarm__pid__instance__q31.html#a2f7492bd6fb92fae5e2de7fbbec39b0e">arm_pid_instance_q31::A1</a>, <a class="el" href="structarm__pid__instance__q31.html#a3e34537c53af4f9ad7bfffa4dff27c82">arm_pid_instance_q31::A2</a>, <a class="el" href="arm__math_8h.html#a9a94b78de0f083bd8fadf3c3abe40431">clip_q63_to_q31()</a>, <a class="el" href="structarm__pid__instance__q31.html#aab4ff371d14441df501f1169f71cbd17">arm_pid_instance_q31::Kd</a>, <a class="el" href="structarm__pid__instance__q31.html#aa861d69fd398f29aa0b4b455a823ed72">arm_pid_instance_q31::Ki</a>, <a class="el" href="structarm__pid__instance__q31.html#ac2410bf7f856d58dc1d773d4983cac8e">arm_pid_instance_q31::Kp</a>, and <a class="el" href="structarm__pid__instance__q31.html#a228e4a64da6014844a0a671a1fa391d4">arm_pid_instance_q31::state</a>.</p> +<dl class="section return"><dt>Returns</dt><dd>none</dd></dl> +<dl class="section user"><dt>Details</dt><dd>The <code>resetStateFlag</code> specifies whether to set state to zero or not. <br/> + The function computes the structure fields: <code>A0</code>, <code>A1</code> <code>A2</code> using the proportional gain( <code>Kp</code>), integral gain( <code>Ki</code>) and derivative gain( <code>Kd</code>) also sets the state variables to all zeros. </dd></dl> </div> </div> -<a class="anchor" id="gad466471a6b0f8fc570b8b8fc34ac79fa"></a> +<a class="anchor" id="ga7ecc87208cb297fb9a31cec4f18bb54e"></a> <div class="memitem"> <div class="memproto"> <table class="memname"> <tr> - <td class="memname">CMSIS_INLINE __STATIC_INLINE <a class="el" href="arm__math_8h.html#ab5a8fb21a5b3b983d5f54f31614052ea">q15_t</a> arm_pid_q15 </td> + <td class="memname">__STATIC_FORCEINLINE <a class="el" href="arm__math_8h.html#ab5a8fb21a5b3b983d5f54f31614052ea">q15_t</a> arm_pid_q15 </td> <td>(</td> <td class="paramtype"><a class="el" href="structarm__pid__instance__q15.html">arm_pid_instance_q15</a> * </td> <td class="paramname"><em>S</em>, </td> @@ -353,20 +354,17 @@ The function computes the structure fields: <code>A0</code>, <code>A1</code> <co </table> </dd> </dl> -<dl class="section return"><dt>Returns</dt><dd>out processed output sample.</dd></dl> -<p><b>Scaling and Overflow Behavior:</b> </p> -<dl class="section user"><dt></dt><dd>The function is implemented using a 64-bit internal accumulator. Both Gains and state variables are represented in 1.15 format and multiplications yield a 2.30 result. The 2.30 intermediate results are accumulated in a 64-bit accumulator in 34.30 format. There is no risk of internal overflow with this approach and the full precision of intermediate multiplications is preserved. After all additions have been performed, the accumulator is truncated to 34.15 format by discarding low 15 bits. Lastly, the accumulator is saturated to yield a result in 1.15 format. </dd></dl> - -<p>References <a class="el" href="arm__math_8h.html#a1185d670d798aaf52eec13f0403f3407">__SIMD32_CONST</a>, <a class="el" href="arm__math_8h.html#a7aed02041f489a4f65dbd7093073d94e">__SMLALD()</a>, <a class="el" href="arm__math_8h.html#a2eed05660fedbe3fbd0b6dbb1315cfc3">__SMUAD()</a>, <a class="el" href="structarm__pid__instance__q15.html#ad77f3a2823c7f96de42c92a3fbf3246b">arm_pid_instance_q15::A0</a>, <a class="el" href="structarm__pid__instance__q15.html#ad8ac5ff736c0e51180398c31f777f18a">arm_pid_instance_q15::A1</a>, <a class="el" href="structarm__pid__instance__q15.html#a33e8b4c2d3e24b8b494f6edca6a89c1b">arm_pid_instance_q15::A2</a>, and <a class="el" href="structarm__pid__instance__q15.html#a4a3f0a878b5b6b055e3478a2f244cd30">arm_pid_instance_q15::state</a>.</p> +<dl class="section return"><dt>Returns</dt><dd>processed output sample.</dd></dl> +<dl class="section user"><dt>Scaling and Overflow Behavior</dt><dd>The function is implemented using a 64-bit internal accumulator. Both Gains and state variables are represented in 1.15 format and multiplications yield a 2.30 result. The 2.30 intermediate results are accumulated in a 64-bit accumulator in 34.30 format. There is no risk of internal overflow with this approach and the full precision of intermediate multiplications is preserved. After all additions have been performed, the accumulator is truncated to 34.15 format by discarding low 15 bits. Lastly, the accumulator is saturated to yield a result in 1.15 format. </dd></dl> </div> </div> -<a class="anchor" id="ga82bc0813c007d50ce308b9b0bf3c76e2"></a> +<a class="anchor" id="ga9ead8b3180125fb42879389477b99dc8"></a> <div class="memitem"> <div class="memproto"> <table class="memname"> <tr> - <td class="memname">CMSIS_INLINE __STATIC_INLINE <a class="el" href="arm__math_8h.html#adc89a3547f5324b7b3b95adec3806bc0">q31_t</a> arm_pid_q31 </td> + <td class="memname">__STATIC_FORCEINLINE <a class="el" href="arm__math_8h.html#adc89a3547f5324b7b3b95adec3806bc0">q31_t</a> arm_pid_q31 </td> <td>(</td> <td class="paramtype"><a class="el" href="structarm__pid__instance__q31.html">arm_pid_instance_q31</a> * </td> <td class="paramname"><em>S</em>, </td> @@ -391,11 +389,8 @@ The function computes the structure fields: <code>A0</code>, <code>A1</code> <co </table> </dd> </dl> -<dl class="section return"><dt>Returns</dt><dd>out processed output sample.</dd></dl> -<p><b>Scaling and Overflow Behavior:</b> </p> -<dl class="section user"><dt></dt><dd>The function is implemented using an internal 64-bit accumulator. The accumulator has a 2.62 format and maintains full precision of the intermediate multiplication results but provides only a single guard bit. Thus, if the accumulator result overflows it wraps around rather than clip. In order to avoid overflows completely the input signal must be scaled down by 2 bits as there are four additions. After all multiply-accumulates are performed, the 2.62 accumulator is truncated to 1.32 format and then saturated to 1.31 format. </dd></dl> - -<p>References <a class="el" href="structarm__pid__instance__q31.html#aa5332635ce9c7078cdb4c1ecf442eadd">arm_pid_instance_q31::A0</a>, <a class="el" href="structarm__pid__instance__q31.html#a2f7492bd6fb92fae5e2de7fbbec39b0e">arm_pid_instance_q31::A1</a>, <a class="el" href="structarm__pid__instance__q31.html#a3e34537c53af4f9ad7bfffa4dff27c82">arm_pid_instance_q31::A2</a>, and <a class="el" href="structarm__pid__instance__q31.html#a228e4a64da6014844a0a671a1fa391d4">arm_pid_instance_q31::state</a>.</p> +<dl class="section return"><dt>Returns</dt><dd>processed output sample.</dd></dl> +<dl class="section user"><dt>Scaling and Overflow Behavior</dt><dd>The function is implemented using an internal 64-bit accumulator. The accumulator has a 2.62 format and maintains full precision of the intermediate multiplication results but provides only a single guard bit. Thus, if the accumulator result overflows it wraps around rather than clip. In order to avoid overflows completely the input signal must be scaled down by 2 bits as there are four additions. After all multiply-accumulates are performed, the 2.62 accumulator is truncated to 1.32 format and then saturated to 1.31 format. </dd></dl> </div> </div> @@ -414,14 +409,12 @@ The function computes the structure fields: <code>A0</code>, <code>A1</code> <co </div><div class="memdoc"> <dl class="params"><dt>Parameters</dt><dd> <table class="params"> - <tr><td class="paramdir">[in]</td><td class="paramname">*S</td><td>Instance pointer of PID control data structure. </td></tr> + <tr><td class="paramdir">[in,out]</td><td class="paramname">S</td><td>points to an instance of the floating-point PID structure </td></tr> </table> </dd> </dl> -<dl class="section return"><dt>Returns</dt><dd>none. </dd></dl> -<dl class="section user"><dt>Description:</dt><dd>The function resets the state buffer to zeros. </dd></dl> - -<p>References <a class="el" href="structarm__pid__instance__f32.html#afd394e1e52fb1d526aa472c83b8f2464">arm_pid_instance_f32::state</a>.</p> +<dl class="section return"><dt>Returns</dt><dd>none</dd></dl> +<dl class="section user"><dt>Details</dt><dd>The function resets the state buffer to zeros. </dd></dl> </div> </div> @@ -440,14 +433,12 @@ The function computes the structure fields: <code>A0</code>, <code>A1</code> <co </div><div class="memdoc"> <dl class="params"><dt>Parameters</dt><dd> <table class="params"> - <tr><td class="paramdir">[in]</td><td class="paramname">*S</td><td>Instance pointer of PID control data structure. </td></tr> + <tr><td class="paramdir">[in,out]</td><td class="paramname">S</td><td>points to an instance of the Q15 PID structure </td></tr> </table> </dd> </dl> -<dl class="section return"><dt>Returns</dt><dd>none. </dd></dl> -<dl class="section user"><dt>Description:</dt><dd>The function resets the state buffer to zeros. </dd></dl> - -<p>References <a class="el" href="structarm__pid__instance__q15.html#a4a3f0a878b5b6b055e3478a2f244cd30">arm_pid_instance_q15::state</a>.</p> +<dl class="section return"><dt>Returns</dt><dd>none</dd></dl> +<dl class="section user"><dt>Details</dt><dd>The function resets the state buffer to zeros. </dd></dl> </div> </div> @@ -466,14 +457,12 @@ The function computes the structure fields: <code>A0</code>, <code>A1</code> <co </div><div class="memdoc"> <dl class="params"><dt>Parameters</dt><dd> <table class="params"> - <tr><td class="paramdir">[in]</td><td class="paramname">*S</td><td>Instance pointer of PID control data structure. </td></tr> + <tr><td class="paramdir">[in,out]</td><td class="paramname">S</td><td>points to an instance of the Q31 PID structure </td></tr> </table> </dd> </dl> -<dl class="section return"><dt>Returns</dt><dd>none. </dd></dl> -<dl class="section user"><dt>Description:</dt><dd>The function resets the state buffer to zeros. </dd></dl> - -<p>References <a class="el" href="structarm__pid__instance__q31.html#a228e4a64da6014844a0a671a1fa391d4">arm_pid_instance_q31::state</a>.</p> +<dl class="section return"><dt>Returns</dt><dd>none</dd></dl> +<dl class="section user"><dt>Details</dt><dd>The function resets the state buffer to zeros. </dd></dl> </div> </div> @@ -482,7 +471,7 @@ The function computes the structure fields: <code>A0</code>, <code>A1</code> <co <!-- start footer part --> <div id="nav-path" class="navpath"><!-- id is needed for treeview function! --> <ul> - <li class="footer">Generated on Wed Aug 1 2018 17:12:21 for CMSIS-DSP by Arm Ltd. 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