/*
 * The MIT License (MIT)
 * Copyright (c) <2012> <Alan Kharsansky>

 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is furnished
 * to do so, subject to the following conditions:

 * The above copyright notice and this permission notice shall be included in all
 * copies or substantial portions of the Software.

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
 * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 * THE SOFTWARE.
*/

#ifndef __qPID_CONTROLLER_H__
#define __qPID_CONTROLLER_H__

#include <stdint.h>

//================================================================
// Types
//================================================================

typedef enum {
    DISABLED = 0,
    ENABLED
} qPID_Feature;

typedef enum {
    MANUAL = 0,
    AUTOMATIC,
    RELAY,
    OFF
} qPID_Mode;

typedef struct {
    float PV_old;
    float Ui_old;
    float Ud_old;
    float SP_old;
} qPID_Context;

typedef struct {

    // Parameters:
    float K, Ti, Td;    // For use in NON-INT or INT modes

    float OutputMax;    // For windup
    float OutputMin;    // For windup

    float Nd;           // For derivator
    float b, c;         // For setpoint Weighting

    float Ts;           // General propoerty

    // Features:
    qPID_Mode           Mode;
    qPID_Feature        AntiWindup;
    qPID_Feature        Bumpless;

    qPID_Context        ctx;

} qPID;

//================================================================
// Defines
//================================================================
#define EPSILON 0.0000001f

//================================================================
// Prototypes
//================================================================
void qPID_Init(qPID *q);
float qPID_Process_(qPID *q, float Input, float ProcessVariable, float terms[]);
#define qPID_Process(pPID,input,pv) qPID_Process_(pPID,input,pv, NULL);

#endif
