/* =================================================================================
File name:        PID_REG3.H                     
                    
Originator:	Digital Control Systems Group
			Texas Instruments

Description: 
Header file containing constants, data type definitions, and 
function prototypes for the PID_REG3 module.
=====================================================================================
 History:
-------------------------------------------------------------------------------------
 02-08-2001		Release	Rev 1.0                                                   
------------------------------------------------------------------------------*/

#ifndef __PID_REG3_H__
#define __PID_REG3_H__

typedef struct {  int  pid_ref_reg3;   	/* Input: Reference input (Q15) */
				  int  pid_fdb_reg3;   	/* Input: Feedback input (Q15) */
				  int  e_reg3;			/* Variable: Error  (Q14)  */
				  int  Kp_reg3;			/* Parameter: Proportional gain (Q15) */
				  int  up_reg3;			/* Variable: Proportional output (Q14) */
				  int  ui_hi_reg3;		/* Variable: Integral output  (Q30)  */
				  int  ui_lo_reg3;		/* Variable: Integral output  (Q30)  */	
				  int  ud_lo_reg3;		/* Variable: Derivative output  (Q30)  */	
				  int  ud_hi_reg3;		/* Variable: Derivative output  (Q30)  */
				  int  uprsat_reg3;	 	/* Variable: Pre-saturated output (Q14) */
				  int  pid_out_max;		/* Parameter: Maximum output  (Q15)  */
				  int  pid_out_min;		/* Parameter: Minimum output  (Q15)  */
				  int  pid_out_reg3;   	/* Output: PID output  (Q15)  */
				  int  saterr_reg3;		/* Variable: Saturated difference (Q14) */
				  int  Ki_reg3;			/* Parameter: Integral gain  (Q31-16bit) */
				  int  Kc_reg3;			/* Parameter: Integral correction gain (Q15) */
				  int  Kd_reg3; 		/* Parameter: Derivative gain  (Q14)  */
				  int  up1_reg3;		/* History: Previous proportional output (Q14) */
		 	 	  int  (*calc)();	  	/* Pointer to calculation function */ 
				 } PIDREG3;	            

/*-----------------------------------------------------------------------------
Default initalizer for the PIDREG3 object.
-----------------------------------------------------------------------------*/                     
#define PIDREG3_DEFAULTS { 0x0000, \
                          0x0000, \
                          0x0000, \
                          15883, \
                          0x0000, \
                          0x0000, \
                          0x0000, \
                          0x0000, \
                          0x0000, \
                          0x0000, \
                          0x7FFF, \
                          0x8000, \
                          0x0000, \
                          0x0000, \
                          4194, \
                          30421, \
                          328, \
                          0x0000, \
              			  (int (*)(int))pid_reg3_calc }

/*------------------------------------------------------------------------------
Prototypes for the functions in PID_REG3.ASM
------------------------------------------------------------------------------*/
void pid_reg3_calc(PIDREG3 *);

#endif /* __PID_REG3_H__ */