/**************************************************************************
 *
 *  Copyright (c) 2019-2019 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 "Common.h"

typedef enum ControllerList
{
    PI_CONTROLLER_ID_LOAD_CELL = 0,
    NUM_OF_PI_CONTROLLERS_IDS
} PI_CONTROLLER_ID_T;

typedef enum ControllerSignals
{
    CONTROLLER_SIGNAL_REFERENCE = 0,
    CONTROLLER_SIGNAL_MEASURED,
    CONTROLLER_SIGNAL_ERROR,
    CONTROLLER_SIGNAL_ERROR_SUM,
    CONTROLLER_SIGNAL_ERROR_SUM_AFTER_WINDUP,
    CONTROLLER_SIGNAL_PROPORTIONAL_OUTPUT,
    CONTROLLER_SIGNAL_INTEGRAL_OUTPUT,
    CONTROLLER_SIGNAL_CONTROL_BEFORE_WINDUP,
    CONTROLLER_SIGNAL_CONTROL,
    NUM_OF_CONTROLLER_SIGNAL
} PI_CONTROLLER_SIGNALS_ID;




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

void initializeController(PI_CONTROLLER_ID_T controllerID, U16 initialControlSignal);
S32 runController(PI_CONTROLLER_ID_T controllerID, S32 referenceSignal, S32 measuredSignal);
S32 getControllerSignals(PI_CONTROLLER_ID_T controllerID, PI_CONTROLLER_SIGNALS_ID signalID);



#endif