101 lines
3.0 KiB
C
101 lines
3.0 KiB
C
/*
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* SPDX-FileCopyrightText: 2015-2021 Espressif Systems (Shanghai) CO LTD
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#pragma once
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#include "esp_err.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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/**
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* @brief PID calculation type
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*
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*/
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typedef enum {
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PID_CAL_TYPE_INCREMENTAL, /*!< Incremental PID control */
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PID_CAL_TYPE_POSITIONAL, /*!< Positional PID control */
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} pid_calculate_type_t;
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/**
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* @brief Type of PID control block handle
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*
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*/
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typedef struct pid_ctrl_block_t *pid_ctrl_block_handle_t;
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/**
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* @brief PID control parameters
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*
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*/
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typedef struct {
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float kp; // PID Kp parameter
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float ki; // PID Ki parameter
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float kd; // PID Kd parameter
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float max_output; // PID maximum output limitation
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float min_output; // PID minimum output limitation
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float max_integral; // PID maximum integral value limitation
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float min_integral; // PID minimum integral value limitation
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pid_calculate_type_t cal_type; // PID calculation type
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} pid_ctrl_parameter_t;
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/**
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* @brief PID control configuration
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*
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*/
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typedef struct {
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pid_ctrl_parameter_t init_param; // Initial parameters
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} pid_ctrl_config_t;
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/**
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* @brief Create a new PID control session, returns the handle of control block
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*
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* @param[in] config PID control configuration
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* @param[out] ret_pid Returned PID control block handle
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* @return
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* - ESP_OK: Created PID control block successfully
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* - ESP_ERR_INVALID_ARG: Created PID control block failed because of invalid argument
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* - ESP_ERR_NO_MEM: Created PID control block failed because out of memory
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*/
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esp_err_t pid_new_control_block(const pid_ctrl_config_t *config, pid_ctrl_block_handle_t *ret_pid);
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/**
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* @brief Delete the PID control block
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*
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* @param[in] pid PID control block handle, created by `pid_new_control_block()`
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* @return
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* - ESP_OK: Delete PID control block successfully
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* - ESP_ERR_INVALID_ARG: Delete PID control block failed because of invalid argument
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*/
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esp_err_t pid_del_control_block(pid_ctrl_block_handle_t pid);
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/**
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* @brief Update PID parameters
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*
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* @param[in] pid PID control block handle, created by `pid_new_control_block()`
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* @param[in] params PID parameters
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* @return
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* - ESP_OK: Update PID parameters successfully
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* - ESP_ERR_INVALID_ARG: Update PID parameters failed because of invalid argument
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*/
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esp_err_t pid_update_parameters(pid_ctrl_block_handle_t pid, const pid_ctrl_parameter_t *params);
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/**
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* @brief Input error and get PID control result
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*
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* @param[in] pid PID control block handle, created by `pid_new_control_block()`
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* @param[in] input_error error data that feed to the PID controller
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* @param[out] ret_result result after PID calculation
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* @return
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* - ESP_OK: Run a PID compute successfully
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* - ESP_ERR_INVALID_ARG: Run a PID compute failed because of invalid argument
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*/
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esp_err_t pid_compute(pid_ctrl_block_handle_t pid, float input_error, float *ret_result);
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#ifdef __cplusplus
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}
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#endif
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