#ifndef  _PID_H
#define  _PID_H

#include "SysTick.h"

void PID_Init(void);
void PID_Calc(void);

typedef struct Pid
{
 	float set_tem;// User settings
 	float now_tem;// current temperature
 
 	float Kp; // 110
	float Ki; // 0.001
	float Kd; // 340
 	int t;  // PID calculation cycle - sampling cycle
 	float Ti;
 	float Td;
	
 	float Ek;  // This deviation
	float Ek_1;// Last deviation
	float SEk; // The sum of historical deviations
	
	float Iout;
	float Pout;
	float Dout;
	
 	float OUT0;

 	float OUT;

 	int C1ms;
	
 	int pwmcycle;// PWM cycle
 
 	int times;

	float tem_offset;
	
	float tem_threshold;
}PID;

extern PID pid;
#endif


