--- a/brewco/pid.h Fri Dec 04 22:57:23 2015 +0100
+++ b/brewco/pid.h Sat Dec 05 21:46:22 2015 +0100
@@ -1,32 +1,45 @@
#ifndef PID_H
#define PID_H
-#define PID_MODE_NONE 0 /* Process control off */
-#define PID_MODE_AUTO 1 /* Process control auto */
-#define PID_MODE_BOO 2 /* Process control Bang On/Off */
-#define PID_TIMES 60 /* 60 calculations per minute */
-#define PID_WINDUP_GUARD 10.0 /* Error windup guard */
-
+#define P_MANUAL 0
+#define P_AUTOMATIC 1
+#define P_DIRECT 0
+#define P_REVERSE 1
typedef struct _pid_var {
- double iMax; /* Maximum allowable integrator state */
- double iGain; /* Integral gain */
- double pGain; /* Proportional gain */
- double dGain; /* Derivative gain */
-
- double Input; /* Input value */
- double Err; /* Error, diff between input and set point */
- double ErrLast; /* Error from last pass */
- double iState; /* Error from next last pass */
- double SetP; /* Set point */
- double OutP; /* Output of PID algorithm */
- int Mode; /* Value is 'PID_AUTO' if loop is automatic */
- int Times; /* Calculations per minute */
+ double Kp; /* (P)roportional Tuning Parameter */
+ double Ki; /* (I)ntegral Tuning Parameter */
+ double Kd; /* (D)erivative Tuning Parameter */
+ double dispKp;
+ double dispKi;
+ double dispKd;
+ int Direction; /* Controller direction */
+ double *myInput; /* Input parameter */
+ double *myOutput; /* Output parameter */
+ double *mySetpoint; /* Setpoint parameter */
+ long lastTime; /* Last compute time */
+ double ITerm;
+ double lastInput;
+ long SampleTime;
+ double outMin;
+ double outMax;
+ int inAuto;
} pid_var;
-void InitPID( pid_var *);
-void UpdatePID( pid_var *);
+void PID_init(pid_var *, double *, double *, double *, double, double, double, int);
+void PID_setMode(pid_var *, int);
+void PID_setOutputLimits(pid_var *, double, double);
+void PID_setTunings(pid_var *, double, double, double);
+void PID_setControllerDirection(pid_var *, int);
+void PID_setSampleTime(pid_var *, int);
+double PID_getKp(pid_var *);
+double PID_getKi(pid_var *);
+double PID_getKd(pid_var *);
+int PID_getMode(pid_var *);
+int PID_getDirection(pid_var *);
+int PID_compute(pid_var *);
+
#endif