precision_pi.h

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/*
 * SPDX-FileCopyrightText: Copyright The Zephyr Project Contributors
 * SPDX-FileCopyrightText: Copyright (c) 2026 Philipp Steiner
 *
 * SPDX-License-Identifier: Apache-2.0
 */

 
#ifndef ZEPHYR_INCLUDE_ZEPHYR_PRECISION_TIMING_PRECISION_PI_H_
#define ZEPHYR_INCLUDE_ZEPHYR_PRECISION_TIMING_PRECISION_PI_H_
 
#ifdef __cplusplus
extern "C" {
#endif


struct precision_pi {
        double kp;
        double ki;
        double integral;
        double integral_limit;
        double output_limit;
};

void precision_pi_init(struct precision_pi *pi, double kp, double ki);

void precision_pi_reset(struct precision_pi *pi);

void precision_pi_set_limits(struct precision_pi *pi, double integral_limit, double output_limit);

double precision_pi_update(struct precision_pi *pi, double error);

double precision_pi_update_interval(struct precision_pi *pi, double error, double interval);

 
#ifdef __cplusplus
}
#endif
 
#endif /* ZEPHYR_INCLUDE_ZEPHYR_PRECISION_TIMING_PRECISION_PI_H_ */