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Код: Выделить всё

int PID_calc(unsigned int _set_temp)
{
    int error, p_term, d_term;
    static long ret, temp = 0, i_term = 0;
    static byte iCalc = 0;

    error = _set_temp - ADCval;

    if (!isClng)
    {
        // Calculate Pterm and limit error overflow
        if (error > maxError) p_term = MAX_INT;
        else if (error < -maxError) p_term = -MAX_INT;
             else p_term = Kp * error;

        // Calculate Iterm and limit integral runaway
        if (iCalc)
        {
            temp = sumError + error;
            if (temp > maxSumError)
            {
                i_term = max_I_term;
                sumError = maxSumError;
            }
            else if(temp < -maxSumError)
            {
                i_term = -max_I_term;
                sumError = -maxSumError;
            }
            else
            {
                i_term = Ki * sumError; 
                sumError = temp;
            }
        }
        else
        {
            i_term = 0;
            sumError = 0;
        }

        // Calculate Dterm
        d_term = Kd * (error - lastProcessValue);
        lastProcessValue = error;

        ret = p_term + i_term + d_term;
        
        iCalc = 1;
        if (ret > MAX_PWM)
        {
            ret = MAX_PWM;
            iCalc = 0;
        }
        else if (ret < 0)
        {
            ret = 0;
            iCalc = 0;            
        }
    }    
    else
    {
        ret = 0;
        if (error >= -1)
        {
            sumError = (long)Kp*2;
            lastProcessValue = 0;
            isClng = 0;
            iCalc = 1;
        }    
    }

  return((int)ret);
}