pid.h

#ifndef PID_H
#define PID_H


#include <stdint.h>
#include <stdbool.h>
#include <stdlib.h>

typedef struct _PIDdata {

    volatile float setpoint;

    //pid factors
    volatile float Kp;
    volatile float Ki;
    volatile float Kd;

    //pid terms
    volatile float Perr;
    volatile float Ierr;
    volatile float Derr;

    //pid terms limits
    volatile float Perrmin;
    volatile float Perrmax;
    volatile float Ierrmin;
    volatile float Ierrmax;

} PIDdata, *ptrPIDdata;


//functions
extern void PID_Init(ptrPIDdata pPd);
extern void PID_SetPID(ptrPIDdata pPd, float setpoint, float pidP, float pidI, float pidD);
extern void PID_SetLimitsPerr(ptrPIDdata pPd, float Perr_min, float Perr_max);
extern void PID_SetLimitsIerr(ptrPIDdata pPd, float Ierr_min, float Ierr_max);
extern void PID_ResetIerr(ptrPIDdata pPd);
extern float PID_Update(ptrPIDdata pPd, float input);


#endif