/**
 * @file pid.h
 * @brief
 *
 * Copyright (c) 2021 Bouffalolab team
 *
 * Licensed to the Apache Software Foundation (ASF) under one or more
 * contributor license agreements.  See the NOTICE file distributed with
 * this work for additional information regarding copyright ownership.  The
 * ASF licenses this file to you under the Apache License, Version 2.0 (the
 * "License"); you may not use this file except in compliance with the
 * License.  You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
 * License for the specific language governing permissions and limitations
 * under the License.
 *
 */

#ifndef __PID_H__
#define __PID_H__

#include "stdint.h"

typedef struct pid_alg {
    float set_val;
    float out_val;

    float kp;
    float ki;
    float kd;

    float i_error;
    float last_error;
    float prev_error;
    float sum_error;

    int max_val;
    int min_val;
} pid_alg_t;

void pid_init(pid_alg_t *pid);
float standard_pid_cal(pid_alg_t *pid, float next_val);
float increment_pid_cal(pid_alg_t *pid, float next_val);

#endif