#ifndef __PID_H__
#define __PID_H__
#include "lib.h"

typedef enum
{
    // PID自整定
    PID_TYPE_AUTO_TUNE,
    // 增量式PID
    PID_TYPE_COMMON_INCREMENT,
    // 位置式PID
    PID_TYPE_COMMON_POSITION,
    // 神经PID
    PID_TYPE_NEURAL,

} pid_type_e;

typedef enum
{
    // 位置式
    PID_SUB_TYPE_POSITION,
    // 增量式
    PID_SUB_TYPE_INCREMENT,
} pid_sub_type_e;

#define FUZZY_SUB_TYPE PID_SUB_TYPE_POSITION
#define INCOMPLETE_DIFFEREN 0 // 不完全微分
#define INTEGRAL_SEPARATION 1 // 积分分离


#pragma pack(1)
typedef struct
{
    float32 ref;
    float32 feed_back;
    float32 pre_feed_back;
    float32 pre_error;
    float32 ki_error;   /*积分误差*/
    float32 ki_limit;   /*积分分离界限*/
    float32 kp_limit;   /*变积分界限*/
    float32 alpha;      /*不完全微分系数*/
    float32 err;
    float32 sum_iterm;
    float32 kp;
    float32 kp_small;   /*在接近稳态时的Kp*/
    float32 kp_big;     /*在大范围时的Kp*/
    float32 ki;
    float32 kd;
    float32 err_limit;
    BOOL detach;
    float32 err_dead;
#if INCOMPLETE_DIFFEREN == 1
    dc_t alpha;
    dc_t lastdev;
#endif
    float32 out;
    float32 pre_out;
    float32 out_max;
    float32 out_min;
    BOOL sm;
    float32 sv_range;
} pid_common_position_t; // 位置式PID

typedef struct
{
    float32 ref;      // 目标设定值
    float32 feedback; // 传感器采集值
    float32 out;      // PID计算结果
    float32 kp;
    float32 ki;
    float32 kd;
    float32 e_0; // 当前误差
    float32 e_1; // 上一次误差
    float32 e_2; // 上上次误差
    float32 ki_error;   /*积分误差*/
    float32 alpha;
    float32 lastdev;
    float32 err_dead;
    float32 out_max; // 输出限幅
    float32 out_min; // 输出限幅
    BOOL sm;
    float32 sv_range;
} pid_common_increment_t; // 增量式PID
#pragma pack()

typedef struct PID_COMMON
{
    pid_sub_type_e type;
    /*  设置PID三个参数  */
    void (*set_ctrl_prm)(struct PID_COMMON* self, float32 kp, float32 ki, float32 kd);
    void (*set_ctrl_prm_position)(struct PID_COMMON* self, float32 kp, float32 ki, float32 kd);
    /*  设置输出范围  */
    void (*set_out_prm)(struct PID_COMMON* self, float32 maximum, float32 minimum);
    void (*set_out_prm_position)(struct PID_COMMON* self, float32 maximum, float32 minimum);

    /*  控制接口  */
    float32(*PID_increment)(struct PID_COMMON* self, float32 err);
    float32(*PID_position)(struct PID_COMMON* self, float32 err);

    /*  in  value  */
    float32 err;
    /*  out  value  */
    float32 out;

    union
    {
        pid_common_position_t position;
        pid_common_increment_t increment;
    } pri_u;

} pid_common_t; // 通用PID



typedef struct PID_NEURAL
{
    pid_sub_type_e type;
    /*  设置PID三个参数  */
    void (*set_ctrl_prm)(struct PID_NEURAL* self, float32 k, float32 kp, float32 ki, float32 kd);
    /*  设置输出范围  */
    void (*set_out_prm)(struct PID_NEURAL* self, float32 maximum, float32 minimum);
    /*  控制接口  */
    float32(*PID)(struct PID_NEURAL* self, float32 err);

    /*  in  value  */
    float32 err;
    /*  out  value  */
    float32 out;
    /*  private  */
    struct
    {
        float32 k;          /*神经元输出比例*/
        float32 kp;         /*比例学习速度*/
        float32 ki;         /*积分学习速度*/
        float32 kd;         /*微分学习速度*/
        float32 ki_error;   /*积分误差*/
        float32 last_error; /*前一拍偏差*/
        float32 prev_error; /*前两拍偏差*/
        float32 deadband;   /*死区*/
        float32 maximum;    /*输出值的上限*/
        float32 minimum;    /*输出值的下限*/
        float32 wp;         /*比例加权系数*/
        float32 wi;         /*积分加权系数*/
        float32 wd;         /*微分加权系数*/

        float32 u[3]; /*神经元输出*/
    } pri;
} pid_neural_t; // 神经PID

// PID
typedef struct
{
    pid_type_e type;
    union
    {
        pid_common_t common;
        pid_neural_t neural;
    } pid_u;
} pid_t;

// PID控制
extern void pid_constructor(pid_t* self);

// private
// 神经元PID
extern void pid_neural_constructor(struct PID_NEURAL* self);

//HD：增量式PID
extern void pid_increment_constructor(struct PID_COMMON* self);

//HD: 位置式PID
extern void pid_position_constructor(struct PID_COMMON* self);

#endif