/******************** (C) COPYRIGHT 2008 STMicroelectronics ********************
* File Name          : MC_PID_regulators.h
* Author             : IMS Systems Lab 
* Date First Issued  : 21/11/07
* Description        : Contains the prototypes of PI(D) related functions.
* 
********************************************************************************
* History:
* 21/11/07 v1.0
* 29/05/08 v2.0
********************************************************************************
* THE PRESENT SOFTWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME.
* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT,
* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE
* CONTENT OF SUCH SOFTWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING
* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
*
* THIS SOURCE CODE IS PROTECTED BY A LICENSE.
* FOR MORE INFORMATION PLEASE CAREFULLY READ THE LICENSE AGREEMENT FILE LOCATED
* IN THE ROOT DIRECTORY OF THIS FIRMWARE PACKAGE.
*******************************************************************************/

/* Define to prevent recursive inclusion -------------------------------------*/
 
#ifndef __PI_REGULATORS__H
#define __PI_REGULATORS__H

/* Includes ------------------------------------------------------------------*/
#include "stm32f1xx_hal.h"

typedef struct 
{  
  int16_t hKp_Gain;			  //比例系数
  uint16_t hKp_Divisor;		//比例系数因子
  int16_t hKi_Gain;		    //积分系数
  uint16_t hKi_Divisor;  	//积分系数因子
	int16_t hKd_Gain;			  //微分系数
	uint16_t hKd_Divisor;		//微分系数因子
	int32_t wPreviousError;	//上次误差
  int32_t hLower_Limit_Output;     //Lower Limit for Output limitation			总输出下限
  int32_t hUpper_Limit_Output;     //Upper Limit for Output limitation			总输出上限
  int32_t wLower_Limit_Integral;   //Lower Limit for Integral term limitation	积分项下限
  int32_t wUpper_Limit_Integral;   //Upper Limit for Integral term limitation	积分项上限
  int32_t wIntegral;							 //积分累积和
} PID_Struct_t;

extern PID_Struct_t PID_IMax;
extern PID_Struct_t	PID_Weak_InitStructure;
extern PID_Struct_t PID_Torque_InitStructure;
extern PID_Struct_t PID_Flux_InitStructure;
extern PID_Struct_t PID_MotorSpd;
extern PID_Struct_t PID_ConstantPower;

extern void PID_Init (uint8_t SerialNum);
extern int16_t PID_Regulator(int16_t, int16_t, PID_Struct_t *);

#endif 

/******************* (C) COPYRIGHT 2008 STMicroelectronics *****END OF FILE****/