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CMSIS DSP PID Algorithm and 1.15 format

Question asked by slimsly on Aug 10, 2013

I am having a problem with CMSIS DSP. the state variables are represented in 1.15 format.I want to control the speed of a motor using PID algorithm.The minimum value of the PWM duty Cycle is 500 and it Maximum is 3500.

Do I have to convert the Speed Error to 1.15 format before feeding it to the PID and convert the output from 1.15 format to Unsigned Integer and pass it to PWM Duty Cycle?. Any help will be greatly appreciated.