44 struct pid_params p_param;  variable
59 	p_param.ts = ticktime;  in init_thermal_controller()
61 	p_param.kp = .36;  in init_thermal_controller()
62 	p_param.ki = 5.0;  in init_thermal_controller()
63 	p_param.kd = 0.19;  in init_thermal_controller()
65 	p_param.t_target = target_temp_user;  in init_thermal_controller()
74 	p_param.y_k = 0.0;  in controller_reset()
91 	ek = p_param.t_target - xk; /* error */  in controller_handler()
94 			xk, p_param.t_target);  in controller_handler()
100 	p_term = -p_param.kp * (xk - xk_1);  in controller_handler()
101 	i_term = p_param.kp * p_param.ki * p_param.ts * ek;  in controller_handler()
102 	d_term = -p_param.kp * p_param.kd * (xk - 2 * xk_1 + xk_2) / p_param.ts;  in controller_handler()
115 	p_param.y_k = *yk;  in controller_handler()
117 	set_ctrl_state(lround(fabs(p_param.y_k)));  in controller_handler()