big refactoring and features added

App/Services/temperature_control.c

@@ -0,0 +1,67 @@
+/**
+ * @file temperature_control.c
+ * @brief Temperature-control services for the laser TEC loops.
+ */
+
+#include "temperature_control.h"
+
+uint16_t temperature_control_compute_pid(const laser_channel_config_t *channel_config,
+                                         laser_runtime_t *runtime_state,
+                                         uint8_t channel_index,
+                                         uint32_t current_tick_1ms,
+                                         uint32_t *shared_pid_reference_tick)
+{
+    int32_t error;
+    float proportional_gain;
+    float integral_term;
+    int32_t output;
+
+    if ((channel_config == NULL) || (runtime_state == NULL) || (shared_pid_reference_tick == NULL))
+    {
+        return 32768u;
+    }
+
+    error = (int32_t)runtime_state->current_temperature_raw - (int32_t)channel_config->target_temperature_raw;
+    integral_term = runtime_state->integral_error;
+
+    if ((error < 3000) && (error > -3000))
+    {
+        integral_term += channel_config->pid_i *
+                         (float)error *
+                         (float)(current_tick_1ms - *shared_pid_reference_tick) /
+                         100.0f;
+    }
+
+    proportional_gain = channel_config->pid_p;
+
+    if (integral_term > 32000.0f)
+    {
+        integral_term = 32000.0f;
+    }
+    else if (integral_term < -32000.0f)
+    {
+        integral_term = -32000.0f;
+    }
+
+    runtime_state->integral_error = integral_term;
+
+    output = 32768 + (int32_t)(proportional_gain * (float)error) + (int32_t)integral_term;
+
+    if (output < 1000)
+    {
+        output = 8800;
+    }
+    else if (output > 56800)
+    {
+        output = 56800;
+    }
+
+    /* Both PID channels use a shared timing reference updated after the
+     * second TEC computation. This preserves the original controller timing. */
+    if (channel_index == 2u)
+    {
+        *shared_pid_reference_tick = current_tick_1ms;
+    }
+
+    return (uint16_t)output;
+}