#ifndef PID_H_
#define PID_H_
#include "stm32f10x.h"

typedef struct PID 
{
	float Kp; // 增量式积分系数
	float Ki; 
	float Kd;
	float T;
	
	float K1; // 增量式积分系数
	float K2; 
	float K3; 
	float LastError; //Error[-1]
	float PrevError; // Error[-2]
	float pwm_out;
	
	uint16_t flag;//温度状态标志位
}PID;

//void PID_init(PID *structpid);
void PID_Set(PID *structpid,float Kp,float Ki,float Kd,float T);
int PID_realize(PID *structpid,uint16_t s,uint16_t in);
void PID_Init(PID *structpid);
#endif /* PID_H_ */