/*
 * PID.c
 *
 *  Created on: 2022年03月22日
 *      Author: User
 */

#include <Main.h>

#define kp 13.2  //比例
#define ki 0.067 //积分
#define kd 35    //微分

//#define pidtime 6 // pid周期= pidtime * 50ms，至少300ms，否则6675无法工作
#define iloss 10 //积分分离阈值，双极性

sint16_t xdata ek1[2]; // ek0当前误差，ek1上次误差
sint16_t xdata uk1;    // pid计算输出值，规格化[0，100]
sint32_t xdata iek1;   //误差积分，分离式

sint16_t xdata ek2[2]; // ek0当前误差，ek1上次误差
sint16_t xdata uk2;    // pid计算输出值，规格化[0，100]
sint32_t xdata iek2;   //误差积分，分离式

static void Init(void);
static uint8_t Realize(uint8_t CHANNEL, uint16_t temp_val);

PID_t xdata PID_Func = {
    Init,
    Realize};

static void Init(void)
{
    ek1[0] = 0;
    ek1[1] = 0;
    uk1 = 0;
    iek1 = 0;

    ek2[0] = 0;
    ek2[1] = 0;
    uk2 = 0;
    iek2 = 0;
}

/**
 * @brief  PID算法实现
 * @param  CHANNEL 通道		Temp_Setting 目标值
 *	@note 	无
 * @retval  通过PID计算后的输出
 */
static uint8_t Realize(uint8_t CHANNEL, uint16_t Temp_Setting)
{
    if (CHANNEL == Temp1_CHANNEL)
    {
        ek1[1] = ek1[0];
        ek1[0] = Temp_Setting - ADC.Temp1_Result; // 计算本次偏差
        if (ek1[0] <= (-iloss) || Temp_Setting == 0)
        {
            iek1 = 0;
            return 0;
        }
        else if (ek1[0] >= iloss)
        {
            iek1 = 0;
            return 100;
        }
        else if (ek1[0] > (-iloss) && ek1[0] < iloss) // 积分分离
        {
            iek1 += ek1[0];
            uk1 = ek1[0] * kp + iek1 * ki + (ek1[0] - ek1[1]) * kd; // PID运算
            if (uk1 <= 0)
            {
                if (ek1[0] < 0)
                    iek1 -=  ek1[0];
                uk1 = 0;
            }
            if (uk1 >= 100)
            {
                if (ek1[0] > 0)
                    iek1 -= ek1[0];
                uk1 = 100;
            }
            return uk1;
        }
    }
    else if (CHANNEL == Temp2_CHANNEL) //通道2计算
    {
        ek2[1] = ek2[0];
        ek2[0] = Temp_Setting - ADC.Temp2_Result; // 计算本次偏差
         if (ek2[0] <= (-iloss) || Temp_Setting == 0)
        {
            iek2 = 0;
            return 0;
        }
        else if (ek2[0] >= iloss)
        {
            iek2 = 0;
            return 100;
        }
        if (ek2[0] > (-iloss) && ek2[0] < iloss) // 积分分离
        {
            iek2 += ek2[0];
            uk2 = ek2[0] * kp + iek2 * ki + (ek2[0] - ek2[1]) * kd; // PID运算
            if (uk2 <= 0)
            {
                if (ek2[0] < 0)
                    iek2 -= ek2[0];
                uk2 = 0;
            }
            if (uk2 >= 100)
            {
                if (ek2[0] > 0)
                    iek2 -= ek2[0];
                uk2 = 100;
            }
            return uk2;
        }
    }
    return FALSE;
}