add no_os_pid_reset

Useful if one wants to start the control again without performing init/remove. It clears the integral and derivative accumulators. Signed-off-by: Darius Berghe <[email protected]>
ribdp · Mar 7, 2024 · e203504 · e203504
1 parent 9514276
commit e203504
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diff --git a/include/no_os_pid.h b/include/no_os_pid.h
@@ -79,6 +79,7 @@ struct no_os_pid;
 int no_os_pid_init(struct no_os_pid **pid, struct no_os_pid_config config);
 int no_os_pid_control(struct no_os_pid *pid, int SP, int PV, int *output);
 int no_os_pid_hysteresis(struct no_os_pid *pid, unsigned int hyst);
+int no_os_pid_reset(struct no_os_pid *pid);
 int no_os_pid_remove(struct no_os_pid *pid);
 
 #endif
diff --git a/util/no_os_pid.c b/util/no_os_pid.c
@@ -171,6 +171,24 @@ int no_os_pid_hysteresis(struct no_os_pid *pid, unsigned int hyst)
 	return 0;
 }
 
+/**
+ * @brief Reset internal accumulators, useful when the same pid descriptor is used to start over.
+ * @param pid - PID descriptor created with no_os_pid_init()
+ * @return
+ *  - 0 : On success
+ *  - -EINVAL : Invalid input
+ */
+int no_os_pid_reset(struct no_os_pid *pid)
+{
+	if (!pid)
+		return -EINVAL;
+
+	pid->iacc = 0;
+	pid->dacc = 0;
+
+	return 0;
+}
+
 /**
  * @brief De-initialize a PID controller by freeing the allocated memory
  * @param pid - PID descriptor created with no_os_pid_init()