pi.h

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/*!****************************************************************************
 *  @file       pi.h
 *  @brief      pi Module
 *
 * 
 *  @anchor pi_h
 *  # Overview
 *
 *
 *  <hr>
 ******************************************************************************/


#ifndef ALGOLIB_LIBRARIES_CONTROLLER_INCLUDE_PI_H_
#define ALGOLIB_LIBRARIES_CONTROLLER_INCLUDE_PI_H_

#include "stdint.h"

/* Include the IQmath Library */
#include <ti/iqmath/include/IQmathLib.h>

/* Include the mathacl optimized IQmath */
#include "IQmath_mathacl.h"

#include "iqNum.h"

#define KP_IQ_SCALING       24

#define KP_TERM_SAT         (((int32_t)1) << (30 - GLOBAL_IQ + KP_IQ_SCALING))

typedef union
{
    struct piFlags
    {
        _Bool
            saturation: 1,
            externalSaturation: 1;
    }
    b;
    uint16_t w;

}PI_FLAGS_T;

typedef struct
{
    const int32_t
        *pReference,
        *pFeedback;

    int32_t
        kiTerm,
        outMin,
        outMax,
        out,
        kp,
        ki;

    PI_FLAGS_T
        flags;

}PI_T;

void piInit(PI_T *pPI);
void piRun(PI_T *pPI);
void piRun_LowPriority(PI_T *pPI);

#endif /* ALGOLIB_LIBRARIES_CONTROLLER_INCLUDE_PI_H_ */