#ifndef __BSP_PID_H
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#define __BSP_PID_H
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#include "gd32e23x.h"
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// #include "stm32f1xx.h"
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// #include "./usart/bsp_debug_usart.h"
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// #include <stdio.h>
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// #include <stdlib.h>
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// #include <math.h>
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typedef struct
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{
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float target_val; //Ä¿±êÖµ
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float actual_val; //ʵ¼ÊÖµ
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float err; //¶¨ÒåÆ«²îÖµ
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float err_last; //¶¨ÒåÉÏÒ»¸öÆ«²îÖµ
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float Kp, Ki, Kd; //¶¨Òå±ÈÀý¡¢»ý·Ö¡¢Î¢·ÖϵÊý
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float integral; //¶¨Òå»ý·ÖÖµ
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} pid_t;
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void PID_param_init(void);
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void set_pid_target(float temp_val);
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float get_pid_target(void);
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void set_p_i_d(float p, float i, float d);
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float PID_realize(float actual_val);
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void time_period_fun(void);
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#endif
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