/**********************************************************************//**
 *
 *  Copyright (c) 2019-2020 Diality Inc. - All Rights Reserved.
 *
 *  THIS CODE MAY NOT BE COPIED OR REPRODUCED IN ANY FORM, IN PART OR IN
 *  WHOLE, WITHOUT THE EXPLICIT PERMISSION OF THE COPYRIGHT OWNER.
 *
 *  @file PIControllers.h
 *
 *  @date 12-Dec-2019
 *  @author L. Baloa
 *
 *  @brief Header file for the PI controllers service (PIControllers.c).
 *
 **************************************************************************/

#ifndef __PICONTROLLERS_H__
#define __PICONTROLLERS_H__

#include "DGCommon.h"

/**
 *  @defgroup PIControllers PIControllers
 *  @brief PIControllers service module.  Provides PI controllers for various actuators..
 *
 *  @addtogroup PIControllers
 *  @{
 */

// ********** public definitions **********

/// Enumeration of PI controllers
typedef enum ControllerList
{
    PI_CONTROLLER_ID_ULTRAFILTRATION = 0,           ///< Load cell controller for dialysate outlet pump.
    PI_CONTROLLER_ID_BLOOD_FLOW,                    ///< Flow controller for blood pump.
    PI_CONTROLLER_ID_DIALYSATE_FLOW,                ///< Flow controller for dialysate inlet pump.
    PI_CONTROLLER_ID_PRIMARY_HEATER,                ///< Temperature controller for primary heater
    PI_CONTROLLER_ID_TRIMMER_HEATER,                ///< Temperature controller for trimmer heater
    NUM_OF_PI_CONTROLLERS_IDS                       ///< Number of PI controllers.
} PI_CONTROLLER_ID_T;

/// Enumeration of PI controller signals
typedef enum ControllerSignals
{
    CONTROLLER_SIGNAL_REFERENCE = 0,                ///< Reference value.
    CONTROLLER_SIGNAL_MEASURED,                     ///< Measured value.
    CONTROLLER_SIGNAL_ERROR,                        ///< Error value.
    CONTROLLER_SIGNAL_ERROR_SUM,                    ///< Error sum before anti-windup.
    CONTROLLER_SIGNAL_ERROR_SUM_AFTER_WINDUP,       ///< Error sum after anti-windup.
    CONTROLLER_SIGNAL_PROPORTIONAL_OUTPUT,          ///< P portion of controller output signal.
    CONTROLLER_SIGNAL_INTEGRAL_OUTPUT,              ///< I portion of controller output signal.
    CONTROLLER_SIGNAL_CONTROL,                      ///< Controller output signal.
    NUM_OF_CONTROLLER_SIGNAL                        ///< Number of PI controller signals.
} PI_CONTROLLER_SIGNALS_ID;

// ********** public function prototypes **********

void initializePIController( PI_CONTROLLER_ID_T controllerID, F32 initialControlSignal,
                             F32 kP, F32 kI, F32 controlMin, F32 controlMax );
void resetPIController( PI_CONTROLLER_ID_T controllerID, F32 initialControlSignal );
F32 runPIController( PI_CONTROLLER_ID_T controllerID, F32 referenceSignal, F32 measuredSignal );
F32 getPIControllerSignals( PI_CONTROLLER_ID_T controllerID, PI_CONTROLLER_SIGNALS_ID signalID );

/**@}*/

#endif