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#ifndef CONTROLLER_CURRENT_H_
#define CONTROLLER_CURRENT_H_
#include "util.h"
#include "fixpt.h"
#define AMPERE(ampere) ((float)(ampere) * 10.0) /* Convert to 1/10th amps */
/* Current controller PID parameters */
#define CONTRCURR_PID_KP 1.8
#define CONTRCURR_PID_KI 2.0
#define CONTRCURR_PID_KD 0.0
#define CONTRCURR_PID_D_DECAY 2.0
/* Current controller integral part limits. */
#define CONTRCURR_NEGLIM_I AMPERE(-0.5)
#define CONTRCURR_POSLIM_I AMPERE(0.5)
/* Current controller final limits. */
#define CONTRCURR_NEGLIM AMPERE(0)
#define CONTRCURR_POSLIM AMPERE(5)
/* Current restriction on low temperatures. */
#define CONTRCURR_RESTRICT_TOTEMP CELSIUS(100)
#define CONTRCURR_RESTRICT_MAXCURR AMPERE(2)
/* PID cut off current. PID is only active below this setpoint. */
#define CONTRCURR_PID_CUTOFF_HYST (AMPERE(CONF_CURRCUTOFFHYST))
#define CONTRCURR_PID_CUTOFF_HI (AMPERE(CONF_CURRCUTOFF))
#define CONTRCURR_PID_CUTOFF_LO (CONTRCURR_PID_CUTOFF_HI - CONTRCURR_PID_CUTOFF_HYST)
void contrcurr_set_feedback(fixpt_t r);
void contrcurr_set_setpoint(fixpt_t w);
void contrcurr_set_restricted(bool restricted);
void contrcurr_set_enabled(bool enable,
uint8_t disabled_curr_percent);
enum contrcurr_emerg_flags {
CONTRCURR_EMERG_UNPLAUS_FEEDBACK = 1 << 0,
CONTRCURR_EMERG_HIGH_TEMP = 1 << 1,
};
void contrcurr_set_emerg(uint8_t emergency_flags);
uint8_t contrcurr_get_emerg(void);
void contrcurr_init(void);
#endif /* CONTROLLER_CURRENT_H_ */
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