/*---------------------------------------------------------------------------------------------------------*/
/* Main Function */
/*---------------------------------------------------------------------------------------------------------*/
int32_t main(void)
{
uint32_t i, CalTime;
PIDS.Kp = 0.4;
PIDS.Ki = 0.4;
PIDS.Kd = 0;
/* Target value*/
target = 500;
/* Inital value */
ival = 0;
/* Initial value and target value error */
ee = target - ival;
/* Unlock protected registers */
SYS_UnlockReg();
/* Init System, peripheral clock and multi-function I/O */
SYS_Init();
/* Lock protected registers */
SYS_LockReg();
/* Init UART for printf */
UART_Init();
/* Init TIMER0 for performance comparing */
TIMER_Open(TIMER0, TIMER_CONTINUOUS_MODE, 1);
TIMER_Start(TIMER0);
/************************* DSP PID ******************************/
/* Initial DSP PID controller function*/
arm_pid_init_f32(&PIDS,0);
/* Calculate PID controller function 100 times*/
for(i = 1; i < 100; i++)
{
output[i] = arm_pid_f32(&PIDS,ee);
ee = target-output[i-1];
}
TIMER_Close(TIMER0);
CalTime = TIMER_GetCounter(TIMER0);
printf("\nDSP PID: It took %d HXT clocks\n", CalTime);
/********************** Software PID ****************************/
/* Re-Initialization TIMER0 for performance comparing */
TIMER_Open(TIMER0, TIMER_CONTINUOUS_MODE, 1);
TIMER_Start(TIMER0);
/* Calculate PID controller function 100 times*/
for(i = 1; i < 100; i++)
{
output[i] = PID(ee);
ee = target-output[i-1];
}
TIMER_Close(TIMER0);
CalTime = TIMER_GetCounter(TIMER0);
printf("Software PID: It took %d HXT clocks\n", CalTime);
while(1);
}
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