//#include "typedef.h"
//#include "Convolve.h"
//#include <stdio.h> 
//#include<math.h> 
         //BC31 TC30 編譯過，可運行。 
//#include <stdio.h> 
//#include<math.h> 
#include "stru.h"

int process_point, set_point,dead_band;  
float p_gain, i_gain, d_gain, integral_val,new_integ;
float dis_value[30]={0.0};  
/*------------------------------------------------------------------------  
pid_init  
DESCRIPTION This function initializes the pointers in the _pid structure  
to the process variable and the setpoint. *pv and *sp are  
integer pointers.  
------------------------------------------------------------------------*/  
void pid_init(struct _pid *warm, int process_point, int set_point) 
{  
   struct _pid *pid;  
   pid = warm;  
   pid->pv = process_point;  
   pid->sp = set_point;  
}  
/*------------------------------------------------------------------------  
pid_tune  
DESCRIPTION Sets the proportional gain (p_gain), integral gain (i_gain),  
derivitive gain (d_gain), and the dead band (dead_band) of  
a pid control structure _pid.  
------------------------------------------------------------------------*/  
void pid_tune(struct _pid *pid, float p_gain, float i_gain, float d_gain, int dead_band)  
{  
    pid->pgain = p_gain;  
    pid->igain = i_gain;  
    pid->dgain = d_gain;  
    pid->deadband = dead_band;  
    pid->integral= integral_val;  
    pid->last_error=0;  
}  
/*------------------------------------------------------------------------  
pid_setinteg  
DESCRIPTION Set a new value for the integral term of the pid equation.  
This is useful for setting the initial output of the  
pid controller at start up.  
------------------------------------------------------------------------*/  
void pid_setinteg(struct _pid *pid,float new_integ) 
{  
    pid->integral = new_integ;  
    pid->last_error = 0;  
} 
/*------------------------------------------------------------------------  
pid_bumpless  
ESCRIPTION Bumpless transfer algorithim. When suddenly changing  
etpoints, or when restarting the PID equation after an  
extended pause, the derivative of the equation can cause  
a bump in the controller output. This function will help  
smooth out that bump. The process value in *pv should  
be the updated just before this function is used.  
------------------------------------------------------------------------*/  
void pid_bumpless(struct _pid *pid)  
{  
   pid->last_error = (pid->sp)-(pid->pv);  
}  
/*------------------------------------------------------------------------  
pid_calc  
DESCRIPTION Performs PID calculations for the _pid structure *a. This function uses the positional form of the pid equation, and incorporates an integral windup prevention algorithim. Rectangular integration is used, so this function must be repeated on a consistent time basis for accurate control.  
RETURN VALUE The new output value for the pid loop.  
USAGE #include "control.h"*/  
float pid_calc(struct _pid *pid) 
{  
   int err; 
   float pterm, dterm, result, ferror;  
   err = (pid->sp) - (pid->pv);  
   if (abs(err) > pid->deadband)  
   {  
     ferror = (float) err; /*do integer to float conversion only once*/  
     pterm = pid->pgain * ferror;  
     if ((pterm > 100) || (pterm < -100)) 
       { 
         pid->integral = 0.0;
       } 
     else  
      {  
        pid->integral += pid->igain * ferror;  
        if (pid->integral > 100.0)  
          { 
            pid->integral = 100.0;  
          } 
        else if (pid->integral < 0.0) pid->integral = 0.0;  
      }  
     dterm = ((float)(err - pid->last_error)) * pid->dgain;  
     result = pterm + pid->integral + dterm;  
   }  
   else 
     result = pid->integral;  
   pid->last_error = err;  
   return (result);  
} 
void main(void) 
{ 
   float display_value=0.0;
   int count=0; 
   pid = &warm; 
   // printf("Enter the values of Process point, Set point, P gain, I gain, D gain \n"); 
   // scanf("%d%d%f%f%f", &process_point, &set_point, &p_gain, &i_gain, &d_gain); 
   for(count=0;count<30;count++)
   dis_value[count]=0.0;
   count=0; 
   process_point = 00; 
   set_point = 20; 
   p_gain = (float)(0.1); 
   i_gain = (float)(0.77); 
   d_gain = (float)(0.18); 
   dead_band = 1; 
   integral_val =(float)(0.01); 
   //printf("The values of Process point, Set point, P gain, I gain, D gain \n"); 
   //printf(" %6d %6d %4f %4f %4f\n", process_point, set_point, p_gain, i_gain, d_gain); 
   //printf("Enter the values of Process point\n"); 
    pid_init(&warm, process_point, set_point);
    pid_tune(&warm, p_gain, i_gain, d_gain, dead_band);
    pid_setinteg(&warm, 0.0);
   while(count<=30)
    {
     
     //scanf("%d",&process_point); 
     //Get input value for process point 
     // pid_init(&warm, process_point, set_point); 
     pid_bumpless(&warm); 
     // how to display output 
     display_value = pid_calc(&warm);
     pid->pv=display_value;
     dis_value[count]=display_value;
     count++;  
     //printf("%f\n", display_value);  
     //printf("\n%f%f%f%f",warm.pv,warm.sp,warm.igain,warm.dgain);  
    }

 while(1);
} 
/*void Convolveok(
     double *Input,			//	原始輸入數據
     double *Impulse,			//	沖擊響應
     double *Output,			//	卷積輸出結果
     Word16 length 			//  卷積序列長度
)

{
	int i,k,p;
	double r;

	p=0;
	for (k=0; k<=length-1; k++)
	{		
		Output[k]=0;
		r=0;
		for (i=0; i<=p; i++)
		{
			r=Input[k-i]*Impulse[i];
			Output[k] = Output[k]+r;
		}
			p=p+1;
			if (p>length-1) p=length-1;
			else p=p;
	 }
	
	p=length-2;
	for (k=length; k<=length+length-1; k++)
	{
	 	Output[k]=0;
		r=0;
	   	for (i=0; i<=p; i++)
		 {
		 	r = Input[length-1-i]*Impulse[length-1-p+i];
		 	Output[k] = Output[k]+r;
		 }
	    p=p-1;
	}
	return ;
}*/