/*
 * pid_control.h
 *
 *  Created on: Sep 12, 2023
 *      Author: smile
 */

#ifndef PID_CONTROL_H_
#define PID_CONTROL_H_

#include "main.h"
#include "stdlib.h"
#include <math.h>


#define LIMIT( x,min,max ) ( (x) < (min)  ? (min) : ( (x) > (max) ? (max) : (x) ) )

#define INTEGRAL_MAX   6.930f    //sqrt(3)/3  * Udc mv
#define POSITION_ACCURACY   2.0f   //sqrt(3)/3  * Udc mv
typedef struct
{
    float SetVal;            //定义设定值
    float ActualVal;        //定义实际值
    float out;                //定义输出值
    float err;                //定义偏差值
    float err_next;            //定义上一个偏差值
    float err_last;            //定义最上前的偏差值
    float Kp,Ki,Kd;            //定义比例、积分、微分系数

    float Integral;
    float Integral_max;
    uint8_t dirc;				//定义方向
    uint8_t samp_time;		    //取样时间（每秒多少次）
}PID_Def;













typedef struct
{
	uint8_t enable 					: 1;	//输出使能
	uint8_t enable_lim_sum_error	: 1;	//积分限幅使能
	uint8_t enable_lim_ouput		: 1;	//输出限幅使能
	uint8_t count					: 4;	
	
	float kp;  			//比例参数
	float ki;  			//积分参数
	float kd;  			//微分参数

	float lim_sum_error;	//误差积分限幅	
	float lim_output;		//输出限幅 防止输出过大

	float sum_error;		//误差积分
	float last_error;		//上一次的误差
	float last_last_error;	//上上一次的误差
	
	float kd_output;
	float ki_output;
	float kp_output;
	float error_dec;

	float pid_output;
	float error;
} PID_HANDLE, *P_PID_HANDLE;





// PID参数
typedef struct {
    float Kp;
    float Ki;
    float Kd;
    float previous_error;
    float integral;
    float max_output; // 最大输出
    float min_output; // 最小输出
} PIDController;

typedef struct {
    float Kp;         // 比例系数
    float Ki;         // 积分系数
    float integral;   // 积分累积
    float max_output; // 最大输出
    float min_output; // 最小输出
} PI_Controller_t;

void PI_Controller_Init(void);
float PI_Controller(PI_Controller_t *controller, float setpoint, float measured_value);
float PID_Controller(PIDController *pid, float setpoint, float measured_value);


extern PI_Controller_t q_axis_controller;
extern PI_Controller_t d_axis_controller;
extern PIDController   speed_pid_1;
extern PI_Controller_t PI_torque;










extern PID_HANDLE id_pid;
extern PID_HANDLE iq_pid;
extern PID_HANDLE speed_pid;


extern PID_Def curret_Id_pid;
extern PID_Def curret_Iq_pid;
extern PID_Def speed_loop_pid;
extern PID_Def position_loop_pid;

extern float pid_out_ud;
extern float pid_out_uq;
extern float pid_ud_set;
extern float pid_uq_set;

void PID_init(void);
float PID_control(PID_Def *PID,float set_Val,float Actual_Val);
float position_PID_control(PID_Def *PID,float set_Val,float Actual_Val);


float pidProcess(P_PID_HANDLE phdl, float input, float measure);


#endif /* PID_CONTROL_H_ */