#ifndef _PIDCTRL_H_
#define _PIDCTRL_H_

#include <stdint.h>

struct pid_data {
	int32_t kp;

	int32_t ta;

	int32_t ki;
	int32_t err_sum;
	int32_t err_sum_max;
	int32_t err_sum_min;

	int32_t kd;
	int32_t err_old;

	int32_t out_max;
	int32_t out_min;
};

int32_t pid_ctrl(struct pid_data *pid, int32_t error);

#endif /* _PIDCTRL_H_ */