// ------------------------------------------------------------------
// Z-WING2025　PIC12F1572                 (C)2025.12.31 inakakoubouKANAI
// AIL1
//           +  :Vcd   Vss: -
//       ELE IN :RA5   RA0: IN RUD
//      MAIN IN :RA4   RA1: OUT PWM1 → Servo
//　GYR3 RUD IN :RA3   RA2: IN GYR2 ELE or AIL
// ------------------------------------------------------------------
#include <xc.h>
#include <stdint.h>
#define _XTAL_FREQ 16000000

// CONFIG
#pragma config FOSC = INTOSC, WDTE = OFF, PWRTE = ON, MCLRE = OFF, CP = OFF, BOREN = ON, LVP = OFF

// --- 変数宣言（int16_t統一） ---
int16_t RUDSENTER, RUD;
int16_t GYR2SENTER, GYR2;
int16_t GYR3SENTER, GYR3;
int16_t MAINSENTER, MAIN0;
int16_t ELESENTER, ELE;
int16_t GS, G0, G1, G2, G3,GG20;
int16_t h = 1; // ヒステリシス判定用

// --- GYR2 / GYR3 PDI制御用 ---
int16_t gyro2_err_prev = 0, gyro3_err_prev = 0;
int32_t gyro2_integral = 0, gyro3_integral = 0;

// --- ゲイン調整（現場で微調整）---
int16_t Kp2 = 0, Ki2 = 0, Kd2 = 1;  // GYR2(PDI)
int16_t Kp3 = 0, Ki3 = 0, Kd3 = 1;  // GYR3(PDI)

// ------------------------------------------------------------------
// 初期化処理
// ------------------------------------------------------------------
void p_initialize() {
    OSCCON = 0b01111000;   // 16MHz
    ANSELA = 0b00000000;
    TRISA  = 0b1111101;    
    WPUA   = 0b1111101;    
    OPTION_REGbits.nWPUEN = 0;
    INTCON = 0x00;
    LATA   = 0b00000000;   
}

void PWM_Initialize(void) {
    OSCCON = 0x7A;
    while(!OSCSTATbits.HFIOFS);
}

void out_Initialize(void) {
    PWM1CLKCON = 0b00000000;
    PWM1TMR = 0;
    PWM1CLKCON |= (0b100 << 3);
    PWM1CON = 0b11000000;
    PWM1DCH = (6000 >> 8) & 0xFF;
    PWM1DCL = 6000 & 0xFF;
    PWM1PHH = 0; PWM1PHL = 0;
    PWM1LDCONbits.LDA = 1;
    while(PWM1LDCONbits.LDA == 1);
}

// 範囲制限
int16_t clip_range(int16_t a, int16_t min, int16_t max) {
    if (a < min) return min;
    if (a > max) return max;
    return a;
}

// PWM出力
void out_PWM(int16_t pulse) {
    PWM1DCH = (pulse >> 8) & 0xFF;
    PWM1DCL = pulse & 0xFF;  
    PWM1PHH = 0; PWM1PHL = 0;
    PWM1LDCONbits.LDA = 1;
    while(PWM1LDCONbits.LDA == 1);
}

// ------------------------------------------------------------------
// GYR2, GYR3 共通PDI制御計算関数
// ------------------------------------------------------------------
int16_t pdi_control(int16_t gyro, int16_t center, int16_t *prev_err, int32_t *integral, int16_t Kp, int16_t Ki, int16_t Kd) {
    int16_t err = gyro - center;
    int16_t p = err * Kp;
    int16_t d = (err - *prev_err) * Kd;
    *prev_err = err;
    *integral += err;
    if (*integral > 2000) *integral = 2000;
    if (*integral < -2000) *integral = -2000;
    int16_t i = (int16_t)((*integral * Ki) >> 6);
    return (p + i + d) >> 2;  // スケーリング
}
// D制御のみに特化したシンプルな関数例
int16_t d_control_only(int16_t gyro, int16_t center, int16_t *prev, int16_t Kd) {
    int16_t err = gyro - center;
    int16_t d = (err - *prev) * Kd;
    *prev = err;
    //return d >> 2; // スケーリング（必要に応じて調整）
    return d ;
}
// ------------------------------------------------------------------
// Z-WING出力処理本体
// ------------------------------------------------------------------
void out_steering() {  


    //---GYR3によるラダーポイントの移動
    RUD=RUD+GYR3-GYR3SENTER;   
    
 //----------[]FLP3,4　-----------
    if (ELE>(ELESENTER+360)){
     h=2;       
    } else
    {
       if (ELE<(ELESENTER+350)){
       h=1;         
     }     
    } 
 
 if(h>1)
 {
//----反転-----AIL1


     if (RUDSENTER>RUD)
     {         
      GS=MAIN0;        
     }
     else
     { 
     G0=RUD-RUDSENTER;
     G2=G0 >> 2;     
     GS=MAIN0-G2;   
     }
 }
 else
 {
 //----------AIL1　-----------
 //---通常----

     if (RUDSENTER>RUD)
     { 
      GS=MAIN0;   
     }
     else
     { 
     G0=RUD-RUDSENTER;
     G2=G0 >> 2;           
     GS=MAIN0+G2;           
     }
}
//----ジャイロ制御--通常と反転でスプリットエルロン（エルロン下げる）
    //int16_t rud_offset = pdi_control(GYR3, GYR3SENTER, &gyro3_err_prev, &gyro3_integral, Kp3, Ki3, Kd3);
    //int16_t ail_offset = pdi_control(GYR2, GYR2SENTER, &gyro2_err_prev, &gyro2_integral, Kp2, Ki2, Kd2);      
   int16_t rud_offset = d_control_only(GYR3, GYR3SENTER, &gyro3_err_prev, Kd3);
   int16_t ail_offset = d_control_only(GYR3, GYR3SENTER, &gyro3_err_prev, Kd3);      
        
    //---GYR3(ラダー)
    if ((GYR3 + rud_offset) > GYR3SENTER)
    {
      GS-=GYR3-GYR3SENTER + rud_offset;  
    }

    //---GYR2(エルロン)
    GS-=(GYR2+ail_offset)-GYR2SENTER;

 GS = clip_range(GS, 4000, 8000); // 140%60度範囲制限 
 out_PWM(GS);   

}

// ------------------------------------------------------------------
// 各チャネル読み取り関数
// ------------------------------------------------------------------
int16_t read_0() { while(RA0==1); while(RA0==0); T1CON=0b00000001;TMR1H=0;TMR1L=0;while(RA0==1);T1CONbits.TMR1ON=0;return (int16_t)((TMR1H<<8)|TMR1L);}
int16_t read_2() { while(RA2==1); while(RA2==0); T1CON=0b00000001;TMR1H=0;TMR1L=0;while(RA2==1);T1CONbits.TMR1ON=0;return (int16_t)((TMR1H<<8)|TMR1L);}
int16_t read_3() { while(RA3==1); while(RA3==0); T1CON=0b00000001;TMR1H=0;TMR1L=0;while(RA3==1);T1CONbits.TMR1ON=0;return (int16_t)((TMR1H<<8)|TMR1L);}
int16_t read_4() { while(RA4==1); while(RA4==0); T1CON=0b00000001;TMR1H=0;TMR1L=0;while(RA4==1);T1CONbits.TMR1ON=0;return (int16_t)((TMR1H<<8)|TMR1L);}
int16_t read_5() { while(RA5==1); while(RA5==0); T1CON=0b00000001;TMR1H=0;TMR1L=0;while(RA5==1);T1CONbits.TMR1ON=0;return (int16_t)((TMR1H<<8)|TMR1L);}

// ------------------------------------------------------------------
// メインループ
// ------------------------------------------------------------------
void main(void) {
    p_initialize();
    PWM_Initialize();
    out_Initialize();
    __delay_ms(10000);  // ジャイロ安定待ち

    RUDSENTER = read_0();
    GYR2SENTER = read_2();
    GYR3SENTER = read_3();
    MAINSENTER = read_4();
    ELESENTER = read_5();

    while(1) {
        RUD = read_0();
        GYR2 = read_2();
        GYR3 = read_3();
        MAIN0 = read_4();
        ELE = read_5();
        out_steering();
    }
}