From 4398f661a7807431b3b86ba43832b4f41717302f Mon Sep 17 00:00:00 2001
From: Till Klocke <till.klocke@gmail.com>
Date: Thu, 27 May 2021 14:26:17 +0200
Subject: [PATCH 1/4] Added cmake component config for esp idf

---
 CMakeLists.txt | 3 +++
 1 file changed, 3 insertions(+)
 create mode 100644 CMakeLists.txt

diff --git a/CMakeLists.txt b/CMakeLists.txt
new file mode 100644
index 0000000..4e276ee
--- /dev/null
+++ b/CMakeLists.txt
@@ -0,0 +1,3 @@
+idf_component_register(SRCS "AutoPID.cpp"
+                    INCLUDE_DIRS "."
+                    REQUIRES esp_common)

From 49bb717556573cc978a983713656e3df592ed0e1 Mon Sep 17 00:00:00 2001
From: Till Klocke <till.klocke@gmail.com>
Date: Thu, 27 May 2021 14:26:37 +0200
Subject: [PATCH 2/4] Replaced arduino specifc functions with esp idf functions

---
 AutoPID.cpp | 13 +++++++++++--
 AutoPID.h   |  2 ++
 2 files changed, 13 insertions(+), 2 deletions(-)

diff --git a/AutoPID.cpp b/AutoPID.cpp
index 64a5f49..52d3738 100644
--- a/AutoPID.cpp
+++ b/AutoPID.cpp
@@ -1,4 +1,15 @@
+#ifndef ESP_PLATFORM
 #include "AutoPID.h"
+#else
+#include <math.h>
+#include "esp_timer.h"
+#endif
+
+#ifdef ESP_PLATFORM
+unsigned long millis() {
+  return (unsigned long)esp_timer_get_time()/1000;
+}
+#endif
 
 AutoPID::AutoPID(double *input, double *setpoint, double *output, double outputMin, double outputMax,
                  double Kp, double Ki, double Kd) {
@@ -100,5 +111,3 @@ void AutoPIDRelay::run() {
 double AutoPIDRelay::getPulseValue(){
   return (isStopped()?0:_pulseValue);
 }
-
-
diff --git a/AutoPID.h b/AutoPID.h
index efe85f2..13b0d86 100644
--- a/AutoPID.h
+++ b/AutoPID.h
@@ -1,6 +1,8 @@
 #ifndef AUTOPID_H
 #define AUTOPID_H
+#ifndef ESP_PLATFORM
 #include <Arduino.h>
+#endif
 
 class AutoPID {
 

From 55436946e651a32f847f929c14167fdd34b9d565 Mon Sep 17 00:00:00 2001
From: Till Klocke <till.klocke@gmail.com>
Date: Thu, 27 May 2021 14:29:51 +0200
Subject: [PATCH 3/4] Accidentally excluded header file, fixed now

---
 AutoPID.cpp | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/AutoPID.cpp b/AutoPID.cpp
index 52d3738..cd68ec1 100644
--- a/AutoPID.cpp
+++ b/AutoPID.cpp
@@ -1,6 +1,5 @@
-#ifndef ESP_PLATFORM
 #include "AutoPID.h"
-#else
+#ifdef ESP_PLATFORM
 #include <math.h>
 #include "esp_timer.h"
 #endif

From d00adfaf43d0101770fb200aa3c57e7459b08f42 Mon Sep 17 00:00:00 2001
From: Till Klocke <till.klocke@gmail.com>
Date: Thu, 27 May 2021 14:33:38 +0200
Subject: [PATCH 4/4] Added replacement for constrain function

---
 AutoPID.cpp | 12 ++++++++++++
 1 file changed, 12 insertions(+)

diff --git a/AutoPID.cpp b/AutoPID.cpp
index cd68ec1..94e2d87 100644
--- a/AutoPID.cpp
+++ b/AutoPID.cpp
@@ -8,6 +8,18 @@
 unsigned long millis() {
   return (unsigned long)esp_timer_get_time()/1000;
 }
+
+template<class T>
+const T& constrain(const T& x, const T& a, const T& b) {
+    if(x < a) {
+        return a;
+    }
+    else if(b < x) {
+        return b;
+    }
+    else
+        return x;
+}
 #endif
 
 AutoPID::AutoPID(double *input, double *setpoint, double *output, double outputMin, double outputMax,