// ------------------------------------------------------------------
// Z-WING2025　PIC12F1572                 (C)2025.12.31 inakakoubouKANAI
//  FLP4
//           +  :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 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;
int16_t h = 1; // ヒステリシス用

// --- PDI制御用変数 ---
int16_t gyro2_err_prev = 0, gyro3_err_prev = 0;// 前回の偏差（D項用）
int32_t gyro2_integral = 0, gyro3_integral = 0;// 偏差の累積（I項用：32bitで溢れ防止）

// --- PDIゲイン調整 ---
int16_t Kp3 = 0, Ki3 = 0, Kd3 = 1; // GYR3: ラダー（ヨー軸）

// --- 初期化関数 ---
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); // プリスケーラ設定 周期16ms
    PWM1CON = 0b11000000;
    PWM1DCH = (6000 >> 8) & 0xFF; // 初期値1.5ms
    PWM1DCL = 6000 & 0xFF;  
    PWM1PHH = 0; PWM1PHL = 0;
    PWM1LDCONbits.LDA = 1;
    while(PWM1LDCONbits.LDA == 1);
}

// クリップ処理
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;
}

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

// --- 信号読み取り関数 (個別記述) ---
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);
}
// --- 汎用PDI演算 ---
int16_t pdi_control(int16_t gyro, int16_t center, 
                    int16_t *prev, int32_t *integ,
                    int16_t Kp, int16_t Ki, int16_t Kd) {
    int16_t err = gyro - center;
    int16_t p = err * Kp;
    int16_t d = (err - *prev) * Kd;
    *prev = err;
    *integ += err;
    if (*integ > 2000) *integ = 2000;
    if (*integ < -2000) *integ = -2000;
    int16_t i = (int16_t)((*integ * Ki) >> 6);
    return (p + i + d) >> 2;
}
// 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制御合成 & PDI演算 ■■■■■■■■■■■■■■
void out_steering() {
    //int16_t yaw_offset   = pdi_control(GYR3, GYR3SENTER, &gyro3_err_prev, &gyro3_integral, Kp3, Ki3, Kd3);   
     int16_t yaw_offset = d_control_only(GYR3, GYR3SENTER, &gyro3_err_prev, Kd3);
      //     int16_t pdi3 = d_control_only(GYR3, GYR3SENTER, &gyro3_err_prev, Kd3);
    //---GYR3によるラダーポイントの移動
    RUD=RUD+GYR3-GYR3SENTER+yaw_offset;
    
 
    //--- ヒステリシス状態 ---
    if (ELE > (ELESENTER + 360)) {
        h = 2;       
    } else if (ELE < (ELESENTER + 350)) {
        h = 1;         
    }    

    // 4. モード別計算ロジック
    if(h > 1) {
        // 反転モード
        if (RUDSENTER < RUD) {
            G0 = RUD - RUDSENTER;
            G1 = G0 >> 1; G2 = G0 >> 2; G3 = G0 >> 3;
            GS = MAIN0 + G0;  
            if (ELE > (ELESENTER+450)) GS = MAIN0 + G1 + G2 + G3;
            if (ELE > (ELESENTER+540)) GS = MAIN0 + G1 + G2;      
            if (ELE > (ELESENTER+630)) GS = MAIN0 + G1 + G3;      
            if (ELE > (ELESENTER+720)) GS = MAIN0 + G1;   
        } else {
            G0 = RUDSENTER - RUD;
            G1 = G0 >> 1; G2 = G0 >> 2; G3 = G0 >> 3;
            GS = MAIN0 - G0; 
            if (ELE > (ELESENTER+450)) GS = MAIN0 - G1 - G2 - G3;
            if (ELE > (ELESENTER+540)) GS = MAIN0 - G1 - G2;
            if (ELE > (ELESENTER+630)) GS = MAIN0 - G1 - G3;
            if (ELE > (ELESENTER+720)) GS = MAIN0 - G1;
        }
    } else {
        // 通常モード
        if (RUDSENTER <= RUD) { 
            G0 = RUD - RUDSENTER;
            G1 = G0 >> 1; G2 = G0 >> 2; G3 = G0 >> 3;
            GS = MAIN0 - G0 - G1 - G2 - G3; 
            if (ELE < (ELESENTER+270)) GS = MAIN0 - G0 - G1 - G2;
            if (ELE < (ELESENTER+180)) GS = MAIN0 - G0 - G1 - G3;      
            if (ELE < (ELESENTER+90))  GS = MAIN0 - G0 - G1;       
            if (ELE < (ELESENTER))     GS = MAIN0 - G0 - G2 - G3;      
            if (ELE < (ELESENTER-90))  GS = MAIN0 - G1 - G2;      
            if (ELE < (ELESENTER-180)) GS = MAIN0 - G1 - G3;      
        } else {         
            G0 = RUDSENTER - RUD; 
            G1 = G0 >> 1; G2 = G0 >> 2; G3 = G0 >> 3;
            GS = MAIN0 + G0 + G1 + G2 + G3;  
            if (ELE < (ELESENTER+270)) GS = MAIN0 + G0 + G1 + G2;
            if (ELE < (ELESENTER+180)) GS = MAIN0 + G0 + G1 + G3;      
            if (ELE < (ELESENTER+90))  GS = MAIN0 + G0 + G1;       
            if (ELE < (ELESENTER))     GS = MAIN0 + G0 + G2 + G3;      
            if (ELE < (ELESENTER-90))  GS = MAIN0 + G1 + G2;      
            if (ELE < (ELESENTER-180)) GS = MAIN0 + G1 + G3;      
        }
    }

    GS = clip_range(GS, 4833, 7182); 
    out_PWM(GS);   
}

// --- 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

    // ニュートラル取得
    RUDSENTER = read_0();
    GYR3SENTER = read_3();
    MAINSENTER = read_4();
    ELESENTER = read_5();

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