pid/ec/pid.hpp

#pragma once

#include <cstdint>
#include <string>

namespace pid_control
{
namespace ec
{

typedef struct
{
    double min;
    double max;
} limits_t;

/* Note: If you update these structs you need to update the copy code in
 * pid/util.cpp and the initialization code in pid/buildjson.hpp files.
 */
typedef struct
{
    bool initialized;          // has pid been initialized
    bool checkHysterWithSetpt; // compare current input and setpoint to check
                               // hysteresis

    double ts;                 // sample time in seconds
    double integral;           // integral of error
    double lastOutput;         // value of last output
    double lastError;          // value of last error

    double proportionalCoeff;  // coeff for P
    double integralCoeff;      // coeff for I
    double derivativeCoeff;    // coeff for D
    double feedFwdOffset;      // offset coeff for feed-forward term
    double feedFwdGain;        // gain for feed-forward term

    limits_t integralLimit;    // clamp of integral
    limits_t outLim;           // clamp of output
    double slewNeg;
    double slewPos;
    double positiveHysteresis;
    double negativeHysteresis;
} pid_info_t;

double pid(pid_info_t* pidinfoptr, double input, double setpoint,
           const std::string* nameptr = nullptr);

/* Condensed version for use by the configuration. */
struct pidinfo
{
    bool checkHysterWithSetpt;  // compare current input and setpoint to check
                                // hysteresis

    double ts;                  // sample time in seconds
    double proportionalCoeff;   // coeff for P
    double integralCoeff;       // coeff for I
    double derivativeCoeff;     // coeff for D
    double feedFwdOffset;       // offset coeff for feed-forward term
    double feedFwdGain;         // gain for feed-forward term
    ec::limits_t integralLimit; // clamp of integral
    ec::limits_t outLim;        // clamp of output
    double slewNeg;
    double slewPos;
    double positiveHysteresis;
    double negativeHysteresis;
};

} // namespace ec
} // namespace pid_control