Mercurial > brewboard / file diff

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/components/PID/PID_v1.h	Sat Oct 20 13:23:15 2018 +0200
@@ -0,0 +1,137 @@
+/**
+ * @file
+ * @brief Interface definitions for the PID controller.
+ *
+ * Loger description
+ */
+
+#ifndef	_PID_V1_H
+#define	_PID_V1_H
+
+/**
+ * @brief PID mode codes.
+ */
+typedef enum
+{
+    PID_MANUAL    = 0,		///< PID mode manual.
+    PID_AUTOMATIC = 1,		///< PID mode is automatic.
+} PID_MODE;
+
+/**
+ * @brief PID direction codes.
+ */
+typedef enum
+{
+    PID_DIRECT  = 0,		///< PID direction normal.
+    PID_REVERSE = 1,		///< PID direction reverse.
+} PID_DIRECTION;
+
+/**
+ * @brief PID calculation mode.
+ */
+typedef enum
+{
+    PID_P_ON_M = 0,		///< PID on Measurement.
+    PID_P_ON_E = 1,		///< PID on Errors.
+} PID_PON;
+
+
+
+/**
+ * @brief Setup the PID controller and initialize.
+ * @param[in] Input The measured value.
+ * @param[in,out] Output The computed result.
+ * @param[in] Setpoint The setpoint to regulate to.
+ * @param[in] Kp The Proportional value.
+ * @param[in] Ki The Intergral value.
+ * @param[in] Kd The Derivate value.
+ * @param[in] POn 0 - PID on Measurement, 1 - PID on Error.
+ * @param[in] ControllerDirection Direct or Reverse action.
+ */
+void PID(double* Input, double* Output, double* Setpoint, double Kp, double Ki, double Kd, PID_PON POn, PID_DIRECTION Direction);
+
+/**
+ * @brief sets PID to either Manual or Automatic.
+ * @param Mode Manual (0) or Automatic (1).
+ */
+void PID_SetMode(PID_MODE Mode);
+
+/**
+ * @brief This, as they say, is where the magic happens.  this function should be called
+ *        every time "void loop()" executes.  the function will decide for itself whether a new
+ *        pid Output needs to be computed.
+ * @return Returns true when the output is computed, false when nothing has been done.
+ */
+bool PID_Compute(void);
+
+/**
+ * @brief Clamps the output to a specific range. 0-255 by default, but it's likely the user
+ *        will want to change this depending on the application.
+ * @param[in] Min The minimal value that Output can be.
+ * @param[in] Max The maximum value that Output can be.
+ */
+void PID_SetOutputLimits(double Min, double Max);
+
+/**
+ * @brief While most users will set the tunings once in the constructor, this function gives
+ *        the user the option of changing tunings during runtime for Adaptive control.
+ * @param[in] Kp The Proportional value.
+ * @param[in] Ki The Intergral value.
+ * @param[in] Kd The Derivate value.
+ * @param[in] POn 0 - PID on Measurement, 1 - PID on Error.
+ */
+void PID_SetTunings(double Kp, double Ki, double Kd, PID_PON POn);
+
+/**
+ * @brief The PID will either be connected to a DIRECT acting process (+Output leads
+ *        to +Input) or a REVERSE acting process(+Output leads to -Input.)  we need to
+ *        know which one, because otherwise we may increase the output when we should
+ *        be decreasing.
+ * @param[in] Direction Direct or Reverse action.
+ */
+void PID_SetControllerDirection(PID_DIRECTION Direction);
+
+/**
+ * @brief Sets the frequency, in Milliseconds, with which the PID calculation is performed.
+ *        default is 100
+ * @param[in] NewSampleTime The new time in Milliseconds.
+ */
+void PID_SetSampleTime(int NewSampleTime);
+
+/**
+ * @brief This function queries the internal state of the PID.  It's here for display
+ *        purposes.  this are the functions the PID Front-end uses for example.
+ * @return The Kp setting.
+ */
+double PID_GetKp();
+
+/**
+ * @brief This function queries the internal state of the PID.  It's here for display
+ *        purposes.  this are the functions the PID Front-end uses for example.
+ * @return The Ki setting.
+ */
+double PID_GetKi();
+
+/**
+ * @brief This function queries the internal state of the PID.  It's here for display
+ *        purposes.  this are the functions the PID Front-end uses for example.
+ * @return The Kp setting.
+ */
+double PID_GetKd();
+
+/**
+ * @brief This function queries the internal state of the PID.  It's here for display
+ *        purposes.  this are the functions the PID Front-end uses for example.
+ * @return Returns PID_AUTOMATIC or PID_MANUAL.
+ */
+PID_MODE PID_GetMode();
+
+/**
+ * @brief This function queries the internal state of the PID.  It's here for display
+ *        purposes.  this are the functions the PID Front-end uses for example.
+ * @return Returns PID_DIRECT or PID_REVERSE.
+ */
+PID_DIRECTION PID_GetDirection();
+
+
+#endif