/* Copyright Statement:
 *
 * This software/firmware and related documentation ("AutoChips Software") are
 * protected under relevant copyright laws. The information contained herein is
 * confidential and proprietary to AutoChips Inc. and/or its licensors. Without
 * the prior written permission of AutoChips inc. and/or its licensors, any
 * reproduction, modification, use or disclosure of AutoChips Software, and
 * information contained herein, in whole or in part, shall be strictly
 * prohibited.
 *
 * AutoChips Inc. (C) 2018. All rights reserved.
 *
 * BY OPENING THIS FILE, RECEIVER HEREBY UNEQUIVOCALLY ACKNOWLEDGES AND AGREES
 * THAT THE SOFTWARE/FIRMWARE AND ITS DOCUMENTATIONS ("AUTOCHIPS SOFTWARE")
 * RECEIVED FROM AUTOCHIPS AND/OR ITS REPRESENTATIVES ARE PROVIDED TO RECEIVER
 * ON AN "AS-IS" BASIS ONLY. AUTOCHIPS EXPRESSLY DISCLAIMS ANY AND ALL
 * WARRANTIES, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED
 * WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE OR
 * NONINFRINGEMENT. NEITHER DOES AUTOCHIPS PROVIDE ANY WARRANTY WHATSOEVER WITH
 * RESPECT TO THE SOFTWARE OF ANY THIRD PARTY WHICH MAY BE USED BY,
 * INCORPORATED IN, OR SUPPLIED WITH THE AUTOCHIPS SOFTWARE, AND RECEIVER AGREES
 * TO LOOK ONLY TO SUCH THIRD PARTY FOR ANY WARRANTY CLAIM RELATING THERETO.
 * RECEIVER EXPRESSLY ACKNOWLEDGES THAT IT IS RECEIVER'S SOLE RESPONSIBILITY TO
 * OBTAIN FROM ANY THIRD PARTY ALL PROPER LICENSES CONTAINED IN AUTOCHIPS
 * SOFTWARE. AUTOCHIPS SHALL ALSO NOT BE RESPONSIBLE FOR ANY AUTOCHIPS SOFTWARE
 * RELEASES MADE TO RECEIVER'S SPECIFICATION OR TO CONFORM TO A PARTICULAR
 * STANDARD OR OPEN FORUM. RECEIVER'S SOLE AND EXCLUSIVE REMEDY AND AUTOCHIPS'S
 * ENTIRE AND CUMULATIVE LIABILITY WITH RESPECT TO THE AUTOCHIPS SOFTWARE
 * RELEASED HEREUNDER WILL BE, AT AUTOCHIPS'S OPTION, TO REVISE OR REPLACE THE
 * AUTOCHIPS SOFTWARE AT ISSUE, OR REFUND ANY SOFTWARE LICENSE FEES OR SERVICE
 * CHARGE PAID BY RECEIVER TO AUTOCHIPS FOR SUCH AUTOCHIPS SOFTWARE AT ISSUE.
 */

/*************<start>******************/

#ifndef PID_H__
#define PID_H__

#if 1
#ifdef __cplusplus
extern "C" {
#endif


#include "ac780x.h"


typedef struct
{
   	float kp, ki, kd; //三个系数
    float error, lastError; //误差、上次误差
    float integral, maxIntegral; //积分、积分限幅
    float output, maxOutput; //输出、输出限幅
}PID;


void PID_Init(PID *pid, float p, float i, float d, float maxI, float maxOut);
void PID_Calc(PID *pid, float reference, float feedback);


#ifdef __cplusplus
}
#endif


#endif 

#endif //PID_H__