sam7fc/include/pidctrl.h

26 lines
337 B
C

#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_ */