#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 max_compressor_tem; // maximum temperature of the compressor. When the target tem is greater than this value, the compressor is turned off.

	float out_tem; // outer temperature
	float out_humidity; // outer humidity
	
	// in h mode
	float hp_h;
	float hi_h;
	float hd_h;
	int h_base_h; // base power percent in h mode 

	// in l mode
	float hp_l;
	float hi_l;
	float hd_l;
	int h_base_l; // base power percent in l mode


	float hp;
	float hi;
	float hd;
	int h_base;
	int h_percent;

	
	float cp;
	float ci;
	float cd;
	float c_base;
	int c_speed;
 
 	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_prev;// 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