// -----------------------------------------------------------------------------
/// @file  PIDParameters.c
/// @brief Description
// -----------------------------------------------------------------------------
//  Micro-Key bv
//  Industrieweg 28, 9804 TG Noordhorn
//  Postbus 92, 9800 AB Zuidhorn
//  The Netherlands
//  Tel: +31 594 503020
//  Fax: +31 594 505825
//  Email: support@microkey.nl
//  Web: www.microkey.nl
// -----------------------------------------------------------------------------
/// $Revision$
/// $Author$
/// $Date$
//  (c) 2017 Micro-Key bv
// -----------------------------------------------------------------------------

/// @file PIDParameters.c
/// @ingroup {group_name}


// -----------------------------------------------------------------------------
// Include files
// -----------------------------------------------------------------------------

#include "PIDParameters.h"

#include "PCBA.h"
#include "PID.h"

// -----------------------------------------------------------------------------
// Constant and macro definitions
// -----------------------------------------------------------------------------



// -----------------------------------------------------------------------------
// Type definitions
// -----------------------------------------------------------------------------


// -----------------------------------------------------------------------------
// File-scope variables
// -----------------------------------------------------------------------------



// -----------------------------------------------------------------------------
// Function declarations
// -----------------------------------------------------------------------------



// -----------------------------------------------------------------------------
// Function definitions
// -----------------------------------------------------------------------------

void PIDParameters_generateDefaultParameters(struct PIDParameters* self)
{
   // Differ between positive and negative regulation
   if (PCBA_getInstance()->pcba == PCBA_CathodeMCP)
   {
      // Negative regulation
      self->iMin  = -100000000;
      self->iMax  = 0;
   }
   else
   {
      // positive regulation
      self->iMin  = 0;
      self->iMax  = 100000000;
   }
   self->Kp    = 3 * PID_FIXED_POINT_FACTOR / 10;
   self->Ki    = 2 * PID_FIXED_POINT_FACTOR / 10;
   self->Kd    = 0 * PID_FIXED_POINT_FACTOR / 10;
}


void PIDParameters_setKp(struct PIDParameters* self, int Kp)
{
   self->Kp = Kp;
}


void PIDParameters_setKi(struct PIDParameters* self, int Ki)
{
   self->Ki = Ki;
}


 void PIDParameters_setKd(struct PIDParameters* self, int Kd)
 {
    self->Kd = Kd;
 }


void PIDParameters_setiMin(struct PIDParameters* self, int iMin)
{
   self->iMin = iMin;
}


void PIDParameters_setiMax(struct PIDParameters* self, int iMax)
{
   self->iMax = iMax;
}