pid.h

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/*This file has been prepared for Doxygen automatic documentation generation.*/
#ifndef PID_H
#define PID_H

#include "stdint.h"

#define SCALING_FACTOR  128

typedef struct PID_DATA{
  int16_t lastProcessValue;
  int32_t sumError;
  int16_t P_Factor;
  int16_t I_Factor;
  int16_t D_Factor;
  int16_t maxError;
  int32_t maxSumError;
} pidData_t;

// Maximum value of variables
#define MAX_INT         INT16_MAX
#define MAX_LONG        INT32_MAX
#define MAX_I_TERM      (MAX_LONG / 2)

// Boolean values
#define FALSE           0
#define TRUE            1

void pid_Init(int16_t p_factor, int16_t i_factor, int16_t d_factor, struct PID_DATA *pid);
int16_t pid_Controller(int16_t setPoint, int16_t processValue, struct PID_DATA *pid_st);
void pid_Reset_Integrator(pidData_t *pid_st);

#endif

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