migrate

fw/n76e003/ebake1/pid.h

@@ -0,0 +1,26 @@
+#ifndef PID_H
+#define PID_H
+
+#include <N76E003.h>
+#include <SFR_Macro.h>
+#include <Function_define.h>
+#include <Common.h>
+#include <Delay.h>
+#include <stdbool.h>
+
+typedef signed char int8_t;
+typedef int int16_t;
+
+typedef struct {
+    int8_t dstate;	//last position input
+    int8_t istate;	//integrator state
+    int8_t imax, imin;	//integratir limits
+    int8_t vmax,vmin;	//result limits
+    int8_t pgain, igain, dgain;
+} pid_struct;
+
+
+int8_t update_pid(pid_struct *pid, int8_t error, uint8_t position);
+int8_t pid_guard(uint16_t desired, uint16_t current);
+
+#endif /* PID_H */