/********************************************************************************

 **** Copyright (C), 2020, Fortior Technology Co., Ltd.                      ****

 ********************************************************************************
    File Name     : PIInit.c
    Author        : Bruce HW&RD
    Date          : 2020-10-16
    Description   : .C file function description
    Version       : 1.0
    Function List :

    Record        :
    1.Date        : 2020-10-16
     Author      : Bruce HW&RD
     Modification: Created file

********************************************************************************/

/* Includes -------------------------------------------------------------------*/
#include "PIInit.h"
#include "FU68xx_5.h"
#include "Customer.h"
#include "Parameter.h"
#include "AddFunction.h"
#include "FiledWeaken.h"


void PI_Init(void)
{
    PI0_KP = SKP;
    PI0_KI = SKI;
    PI0_EK = 0;
    PI0_EK1 = 0;
    PI0_UKMAX = SOUTMAX;
    PI0_UKMIN = SOUTMIN;
    PI0_UKH = 0;
    PI0_UKL = 0;
    PI1_KP = FiledWeakenKp;
    PI1_KI = FiledWeakenKi;
    PI1_EK = 0;
    PI1_EK1 = 0;
    PI1_UKMAX =  0;//mcFieldWeakenPID.outMax;
    PI1_UKMIN =  _Q15((float) -35.0 / 180.0) ; //  mcFieldWeakenPID.outMin;
    PI1_UKH = 0;
    PI1_UKL = 0;
}

void PI2_Init(void)
{
    PI2_KP = fengSKP;
    PI2_KI = fengSKI;
    PI2_KD = 0;
    PI2_EK = 0;
    PI2_EK1 = 0;
    PI2_EK2 = 0 ;
    PI2_UKMAX = 1000;
    PI2_UKMIN = 1;
    PI2_UKH = 0;
    PI2_UKL = 0;
}
int16 PI_realize(int16 speed)
{
    PI0_EK = speed;
    SMDU_RunBlock(0, 7);    //调用MDU运算单元0中的PI模式（7）
    return PI0_UKH;
}