PI controller on C2000 Launchpad

typedef struct {

       float Ref;   // Reference

       float Fdb;   // Feedback

       float Err;   // Error

       float Kp;     // Proportional

       float Ki_ts;  // Integral x Sample time

       float OutMax; // Saturation Up

       float OutMin; // Saturation Down

       float Out;   // Output

       float integral; // Output integral

       float  (*compute)();

} PIREG;

typedef PIREG *PIREG_handle;

void pireg_compute(PIREG_handle);

PIREG pi_ILbuck = {0, 0, 0, 0.1, 0.001, 1, 0, 0, 0, pireg_compute};

void pireg_compute(PIREG *v){

       v->Err =  v->Ref - v->Fdb;

       v->integral = v->Ki_ts*(v->integral + v->Err);

       if ( v->integral > v->OutMax){

             v->integral = v->OutMax;

       } else if (v->integral < v->OutMin){

             v->integral =  v->OutMin;

       }

       v->Out = v->integral + v->Kp*v->Err;

       if ( v->Out > v->OutMax){

             v->Out = v->OutMax;

       } else if ( v->Out < v->OutMin){

             v->Out =  v->OutMin;

       }

}

       pi_ILbuck.Ref = 3;

              pi_ILbuck.Fdb = IL_u;

              pi_ILbuck.compute(&pi_ILbuck);

#include "f2802x_common/include/IQmathLib.h"

#include "C:\ti\controlSUITE\libs\app_libs\motor_control\math_blocks\v4.2\pi_reg4.h"

PI_CONTROLLER pi_ILbuck = {0, 0, 0, _IQ(0.1), _IQ(0.001), _IQ(1), _IQ(0), _IQ(0), _IQ(0), _IQ(0), _IQ(0), _IQ(1)};

pi_ILbuck.Ref = _IQ(3);

pi_ILbuck.Fbk = _IQ(IL_u);

PI_REG4(pi_ILbuck);

set_duty(_IQtoF(pi_ILbuck.Out));