/**************************************************************************
*
* Copyright (c) 2024-2026 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    PIDControllers.h
*
* @author  (last)      Michael Garthwaite
* @date    (last)      11-Sep-2025
*
* @author  (original)  Vinayakam Mani
* @date    (original)  07-Oct-2024
*
***************************************************************************/

#ifndef __PID_CONTROLLERS_H__
#define __PID_CONTROLLERS_H__

#ifdef _TD_
#include "TDCommon.h"
#endif
#ifdef _DD_
#include "DDCommon.h"
#endif

/**
 *  @defgroup PIDControllers PIDControllers
 *  @brief PIDControllers common module.  Provides PID controllers for various actuators.
 *
 *  @addtogroup PIDControllers
 *  @{
 */

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

/// Enumeration of PID controllers.
typedef enum ControllerListPID
{
#ifdef _TD_
    PID_CONTROLLER_ID_BLOOD_FLOW,                    ///< Blood pump controller to target flow rate
#endif
#ifdef _DD_
    PID_CONTROLLER_ID_RO_PUMP_FLOW,                  ///< RO Pump controller to flow
#endif
    NUM_OF_PID_CONTROLLERS_IDS                       ///< Number of PID controllers
} PID_CONTROLLER_ID_T;

/// Enumeration of PI controller signals.
typedef enum ControllerSignalsPID
{
    CONTROLLER_SIGNAL_PID_REFERENCE = 0,                ///< Reference value
    CONTROLLER_SIGNAL_PID_MEASURED,                     ///< Measured value
    CONTROLLER_SIGNAL_PID_ERROR,                        ///< Error value
    CONTROLLER_SIGNAL_PID_ERROR_SUM,                    ///< Error sum before anti-windup
    CONTROLLER_SIGNAL_PID_ERROR_SUM_AFTER_WINDUP,       ///< Error sum after anti-windup
    CONTROLLER_SIGNAL_PID_ERROR_PREVIOUS,               ///< Previous error signal
    CONTROLLER_SIGNAL_PID_PROPORTIONAL_OUTPUT,          ///< P portion of controller output signal
    CONTROLLER_SIGNAL_PID_INTEGRAL_OUTPUT,              ///< I portion of controller output signal
    CONTROLLER_SIGNAL_PID_DERIVATIVE_OUTPUT,            ///< D portion of controller output signal.
    CONTROLLER_SIGNAL_PID_FEEDFORWARD_OUTPUT,           ///< Feed forward portion of controller output signal
    CONTROLLER_SIGNAL_PID_CONTROL,                      ///< Controller output signal
    NUM_OF_CONTROLLER_SIGNAL_PID                        ///< Number of PI controller signals
} PID_CONTROLLER_SIGNALS_ID;

/// Data structure for PI control profiles.
typedef struct
{
    F32 Kp;                                 ///< Proportional Value
    F32 Ki;                                 ///< Integral Value
    F32 Kd;                                 ///< Derivative Value
    F32 uMin;                               ///< Minimum control signal
    F32 uMax;                               ///< Maximum control signal
    F32 maxErrorSumStep;                    ///< Maximum change in I (error sum) for a single control interval.
    U32 controlInterval;                    ///< Control interval value
} PID_CONTROLLER_PROFILE_DATA_T;

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

void initializePIDController( PID_CONTROLLER_ID_T controllerID, F32 initialControlSignal,
                             F32 kP, F32 kI, F32 kD, F32 controlMin, F32 controlMax,
                             BOOL isFeedForwardEnabled, F32 feedFowardSignal );
void resetPIDController( PID_CONTROLLER_ID_T controllerID, F32 initialControlSignal, F32 feedFowardSignal );
F32 runPIDController( PID_CONTROLLER_ID_T controllerID, F32 referenceSignal, F32 measuredSignal );
F32 getPIDControllerSignals( PID_CONTROLLER_ID_T controllerID, PID_CONTROLLER_SIGNALS_ID signalID );
void setPIDControllerStepLimit( PID_CONTROLLER_ID_T controllerID, F32 stepLimit );

/**@}*/

#endif