/**
  ****************************(C) COPYRIGHT 2016 DJI****************************
  * @file       pid.c/h
  * @brief      pidʵ�ֺ�����������ʼ����PID���㺯����
  * @note       
  * @history
  *  Version    Date            Author          Modification
  *  V1.0.0     Dec-26-2018     RM              1. ���
  *
  @verbatim
  ==============================================================================

  ==============================================================================
  @endverbatim
  ****************************(C) COPYRIGHT 2016 DJI****************************
  */
#ifndef PID_H
#define PID_H
#include "struct_typedef.h"
enum PID_MODE
{
    PID_POSITION = 0,
    PID_DELTA
};

/* PID���� */
typedef struct {
  float p;             
  float i;            
  float d;            
  float i_limit;      
  float out_limit;    
  float d_cutoff_freq; 
	float f;// 前馈增益系数
} pid_param_t;

typedef struct
{
    uint8_t mode;

   const pid_param_t *param;

    fp32 set;
    fp32 fdb;

    fp32 out;
    fp32 Pout;
    fp32 Iout;
    fp32 Dout;
    fp32 Dbuf[3]; 
    fp32 error[3]; 

    fp32 Fout;
	
} pid_type_def;
/**
  * @brief          pid struct data init
  * @param[out]     pid: PID�ṹ����ָ��
  * @param[in]      mode: PID_POSITION:��ͨPID
  *                 PID_DELTA: ���PID
  * @param[in]      PID: 0: kp, 1: ki, 2:kd 3: i_limit 4: out_limit 5: d_cutoff_freq
  * @retval         none
  */
extern int8_t PID_init(pid_type_def *pid, uint8_t mode, const pid_param_t *param);

/**
  * @brief          pid calculate 
  * @param[out]     pid: PID struct data point
  * @param[in]      ref: feedback data 
  * @param[in]      set: set point
  * @retval         pid out
  */
/**
  * @brief          pid����
  * @param[out]     pid: PID�ṹ����ָ��
  * @param[in]      ref: ��������
  * @param[in]      set: �趨ֵ
  * @retval         pid���
  */
extern fp32 PID_calc(pid_type_def *pid, fp32 ref, fp32 set);

extern fp32 PID_feedforward(pid_type_def *pid, fp32 ref, fp32 set);
/**
  * @brief          pid out clear
  * @param[out]     pid: PID struct data point
  * @retval         none
  */
/**
  * @brief          pid ������
  * @param[out]     pid: PID�ṹ����ָ��
  * @retval         none
  */
extern void PID_clear(pid_type_def *pid);

#endif