// ------------------------------------------------------------------
// Z-WING2025　PIC12F1572                 (C)2025.12.31 inakakoubouKANAI
// GEAR
//           +  :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 //delayマクロ用 16MHz

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

// --- 変数宣言 (int16_tに統一) ---
int16_t RUDSENTER, RUD;
int16_t GYR2SENTER, GYR2; // ※GYR2は未使用
int16_t GYR3SENTER, GYR3;
int16_t MAINSENTER, MAIN0;
int16_t ELESENTER, ELE;
int16_t GS, G0, G1, G2, G3,GG20,GG21;
int16_t GELE0, GELE1;
int16_t h = 1;

// --- PDI制御用変数 (GYR3のみ有効) ---
int16_t gyro3_err_prev = 0;
int32_t gyro3_integral = 0;

// --- PIDゲイン（GYR3のみ使用） ---
int16_t Kp3 = 0, Ki3 = 0, Kd3 = 1;
//int16_t Kp2 = 0, Ki2 = 0, Kd2 = 8; // ※GYR2は未使用・注釈のみ残す

//---------------- 初期化 ----------------
void p_initialize() {
    OSCCON = 0b01111000;  //16MHz
    ANSELA = 0b00000000;
    TRISA  = 0b1111101;   // RA1=output
    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; // クロックソース=Fosc 
    PWM1TMR = 0;
    PWM1CLKCON |= (0b100 << 3); // プリスケーラ設定 周期16ms
    PWM1CON = 0b11000000;       // PWM有効
    PWM1DCH = (6000 >> 8) & 0xFF;
    PWM1DCL = 6000 & 0xFF;  
    PWM1PHH = 0; PWM1PHL = 0;
    PWM1LDCONbits.LDA = 1;
    while(PWM1LDCONbits.LDA == 1);
}

// --- 範囲制限処理 ---
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;
}

// --- 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);
}

// --- GYR3専用PDI演算 ---
int16_t pdi_control_GYR3(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; // 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制御用に合成  ■■■■■■■■■■■■■■
void out_steering()
{
    //--- GYR3 のみ PDI制御適用 ---
   // int16_t pdi3 = pdi_control_GYR3(GYR3, GYR3SENTER, &gyro3_err_prev, &gyro3_integral, Kp3, Ki3, Kd3);
      int16_t pdi3 = d_control_only(GYR3, GYR3SENTER, &gyro3_err_prev, Kd3);

 //----------[]GEAR-----------

    GS=MAIN0;


 //----ジャイロ制御------ 
    GYR3+=pdi3;
    //---GYR3(ラダー)
    if (GYR3 > GYR3SENTER)
    {
    GG20=GYR3-GYR3SENTER;
    GG21=GG20 >> 1;
    //GG22=GG20 >> 2;
    GS=GS+GG20+GG21;        
    }
    else
    {
     GG20=GYR3SENTER-GYR3;
    GG21=GG20 >> 1;
    //GG22=GG20 >> 2;
    GS=GS-GG20-GG21;          
    }
 GS = clip_range(GS, 4000, 8000); // 140%60度範囲制限 
 out_PWM(GS);   
}

//-----------------------信号読み取り-------------------------------------------
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);} // ※GYR2未使用
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--------------------------------------------------
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(); // ※GYR2未使用
    GYR3SENTER = read_3();
    MAINSENTER = read_4();
    //ELESENTER  = read_5();

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