/***************************************************************************
 *   sam7fc - Flight Control                                               *
 *                                                                         *
 *   Copyright (C) 03/2008 by Olaf Rempel                                  *
 *   razzor@kopf-tisch.de                                                  *
 *                                                                         *
 *   This program is free software; you can redistribute it and/or modify  *
 *   it under the terms of the GNU General Public License as published by  *
 *   the Free Software Foundation; version 2 of the License                *
 *                                                                         *
 *   This program is distributed in the hope that it will be useful,       *
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
 *   GNU General Public License for more details.                          *
 *                                                                         *
 *   You should have received a copy of the GNU General Public License     *
 *   along with this program; if not, write to the                         *
 *   Free Software Foundation, Inc.,                                       *
 *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
 ***************************************************************************/
#include <stdio.h>
#include <stdlib.h>	/* abs() */

#include "AT91SAM7S256.h"
#include "board.h"

#include <at91_adc.h>
#include <at91_pitc.h>
#include <at91_tc1.h>
#include <at91_twi.h>
#include <telemetrie.h>
#include <pidctrl.h>

static uint32_t global_state;
#define MOTOR_RUNNING			0x0001
#define MOTOR_MIXER_ENABLE		0x0002
#define STICK_CALIBRATION		0x0004
#define STICK_CALIBRATION_COMPLETE	0x0008

static struct pid_data pid_nick = {
	.kp = 1,
	.ki = 0,
	.err_sum_max = +1024,
	.err_sum_min = -1024,
	.out_max = +256,
	.out_min = -256,
};
TDC_PTR(pid_nick_ki, &pid_nick.ki, "flctrl: pid nick ki", int32_t, TDC_SIGNED);
TDC_PTR(pid_nick_errsum, &pid_nick.err_sum, "flctrl: pid nick errsum", int32_t, TDC_SIGNED | TDC_READONLY);

static struct pid_data pid_roll = {
	.kp = 1,
	.ki = 0,
	.err_sum_max = +1024,
	.err_sum_min = -1024,
	.out_max = +256,
	.out_min = -256,
};
TDC_PTR(pid_roll_ki, &pid_roll.ki, "flctrl: pid roll ki", int32_t, TDC_SIGNED);
TDC_PTR(pid_roll_errsum, &pid_roll.err_sum, "flctrl: pid roll errsum", int32_t, TDC_SIGNED | TDC_READONLY);

static struct pid_data pid_gier = {
	.kp = 1,
	.ki = 0,
	.err_sum_max = +1024,
	.err_sum_min = -1024,
	.out_max = +256,
	.out_min = -256,
};
TDC_PTR(pid_gier_ki, &pid_gier.ki, "flctrl: pid gier ki", int32_t, TDC_SIGNED);
TDC_PTR(pid_gier_errsum, &pid_gier.err_sum, "flctrl: pid gier errsum", int32_t, TDC_SIGNED | TDC_READONLY);

static void motor_mixer(int32_t gas, int32_t nick, int32_t roll, int32_t gier)
{
	static uint8_t pwm[4];

	TDC_VALUE(pwm0, pwm[0], "Motor PWM 1", uint8_t, TDC_UNSIGNED | TDC_READONLY);
	TDC_VALUE(pwm1, pwm[1], "Motor PWM 2", uint8_t, TDC_UNSIGNED | TDC_READONLY);
	TDC_VALUE(pwm2, pwm[2], "Motor PWM 3", uint8_t, TDC_UNSIGNED | TDC_READONLY);
	TDC_VALUE(pwm3, pwm[3], "Motor PWM 4", uint8_t, TDC_UNSIGNED | TDC_READONLY);

	pwm[0] = LIMIT((gas - nick + gier), 0x0F, 0xFF);
	pwm[1] = LIMIT((gas + nick + gier), 0x0F, 0xFF);
	pwm[2] = LIMIT((gas + roll - gier), 0x0F, 0xFF);
	pwm[3] = LIMIT((gas - roll - gier), 0x0F, 0xFF);

	if (!(global_state & MOTOR_RUNNING)) {
		pwm[0] = 0x00;
		pwm[1] = 0x00;
		pwm[2] = 0x00;
		pwm[3] = 0x00;

	} else if (!(global_state & MOTOR_MIXER_ENABLE)) {
		pwm[0] = 0x0F;
		pwm[1] = 0x0F;
		pwm[2] = 0x0F;
		pwm[3] = 0x0F;
	}

	twi_setpwm(pwm);
}

static uint32_t base_ctrl_cb(struct pitc_timer *timer)
{
	if (global_state & STICK_CALIBRATION)
		global_state |= STICK_CALIBRATION_COMPLETE;

	return PITC_REMOVE_TIMER;
}

static struct pitc_timer base_ctrl_timer = {
	.func = base_ctrl_cb,
};

void base_ctrl(void)
{
	static int32_t nick_integral, roll_integral, gier_integral;

	/* get stick switches & values */
	struct rc_values rc_sw;
	uint32_t count = rcontrol_getswitches(&rc_sw);

	if (count < 4) {
		global_state &= ~MOTOR_RUNNING;

	} else if (global_state & STICK_CALIBRATION_COMPLETE) {
//		rcontrol_calibrate(RC_CAL_END);
//		rcontrol_calibrate(RC_CAL_SAVE);
		rcontrol_print_cal();
		global_state &= ~(STICK_CALIBRATION | STICK_CALIBRATION_COMPLETE);

	} else if (global_state & STICK_CALIBRATION) {
		/* do nothing during calibration */

	} else if (count >= 4) {
		/* Motor stop */
		if (rc_sw.chan[2] < 0 && rc_sw.chan[3] > 0)
			global_state &= ~MOTOR_RUNNING;

		/* Motor start */
		if (rc_sw.chan[2] < 0 && rc_sw.chan[3] < 0)
			global_state |= MOTOR_RUNNING;

		/* Gyro calibration */
		if (rc_sw.chan[2] > 0 && rc_sw.chan[3] > 0)
			adc_calibrate(ADC_CAL_GYRO);

		/* ACC + Stick calibration */
		if (rc_sw.chan[2] > 0 && rc_sw.chan[3] < 0) {
			adc_calibrate(ADC_CAL_ACC);
//			rcontrol_calibrate(RC_CAL_START);
			global_state |= STICK_CALIBRATION;
			base_ctrl_timer.interval = 1000;
			pitc_schedule_timer(&base_ctrl_timer);
		}
	}

	struct rc_values rc;
	rcontrol_getvalues(&rc);

	if (rc.chan[2] < 15) {
		global_state &= ~MOTOR_MIXER_ENABLE;

		/* reset integrals */
		nick_integral = roll_integral = gier_integral = 0;
		pid_nick.err_sum = pid_roll.err_sum = pid_gier.err_sum = 0;

	} else {
		global_state |= MOTOR_MIXER_ENABLE;
	}

	/* get adc results */
	static int16_t adc_result[7];

	TDC_PTR(adc_result0, &adc_result[ADC_GYRO_NICK], "ADC_GYRO_NICK", int16_t, TDC_SIGNED | TDC_READONLY);
	TDC_PTR(adc_result1, &adc_result[ADC_GYRO_ROLL], "ADC_GYRO_ROLL", int16_t, TDC_SIGNED | TDC_READONLY);
	TDC_PTR(adc_result2, &adc_result[ADC_GYRO_GIER], "ADC_GYRO_GIER", int16_t, TDC_SIGNED | TDC_READONLY);
	TDC_PTR(adc_result3, &adc_result[ADC_ACC_NICK], "ADC_ACC_NICK", int16_t, TDC_SIGNED | TDC_READONLY);
	TDC_PTR(adc_result4, &adc_result[ADC_ACC_ROLL], "ADC_ACC_ROLL", int16_t, TDC_SIGNED | TDC_READONLY);
	TDC_PTR(adc_result5, &adc_result[ADC_ACC_GIER], "ADC_ACC_GIER", int16_t, TDC_SIGNED | TDC_READONLY);
	TDC_PTR(adc_result6, &adc_result[ADC_VOLTAGE], "ADC_VOLTAGE", int16_t, TDC_SIGNED | TDC_READONLY);

	adc_get_results(adc_result);

	if (count != 0 && adc_result[ADC_VOLTAGE] > 960)
		*AT91C_PIOA_CODR = LED_GREEN;
	else
		*AT91C_PIOA_SODR = LED_GREEN;

	nick_integral += adc_result[ADC_GYRO_NICK];
	TDC_INT32(nick_integral, "flctrl: Base Integral Nick");

	roll_integral += adc_result[ADC_GYRO_ROLL];
	TDC_INT32(roll_integral, "flctrl: Base Integral Roll");

	gier_integral += adc_result[ADC_GYRO_GIER];
	TDC_INT32(gier_integral, "flctrl: Base Integral Gier");

	static int32_t integral_gyro_mix = 1;
	TDC_INT32(integral_gyro_mix, "flctrl: Mix Integral/ACC (0-1024)");

	static int32_t acc_faktor = 300;
	TDC_INT32(acc_faktor, "flctrl: Mix Faktor");

	/*
	 * 90° -> ADC_ACC_* ~210
	 * 90° -> Integral ~60000
	 */
	int32_t mix_integral = 1024 - integral_gyro_mix;
	int32_t mix_acc = integral_gyro_mix * acc_faktor;
	nick_integral = ((nick_integral * mix_integral) + (adc_result[ADC_ACC_NICK] * mix_acc)) / 1024;
	roll_integral = ((roll_integral * mix_integral) + (adc_result[ADC_ACC_ROLL] * mix_acc)) / 1024;

	/*
	 * hoher gyro_faktor -> bessere stabilität, aber langsames zurückkehren nach vollausschlag
	 * niedriger integral_faktor -> geringere abweichungbei einseitigem anheben, aber schwingungsanfälliger
	 */
	static int32_t integral_faktor = 256;
	static int32_t gyro_faktor = 4;
	TDC_INT32(integral_faktor, "flctrl: Integral Divisior");
	TDC_INT32(gyro_faktor, "flctrl: Integral Gyro Faktor /16");

	static int32_t nick;
	static int32_t roll;
	static int32_t gier;
	nick = (nick_integral / integral_faktor) + (adc_result[ADC_GYRO_NICK] * gyro_faktor) / 16;
	roll = (roll_integral / integral_faktor) + (adc_result[ADC_GYRO_ROLL] * gyro_faktor) / 16;
	gier = (gier_integral / integral_faktor) + (adc_result[ADC_GYRO_GIER] * gyro_faktor) / 16;
	TDC_INT32_RO(nick, "flctrl: Integral + Gyro Nick");
	TDC_INT32_RO(roll, "flctrl: Integral + Gyro Roll");
	TDC_INT32_RO(gier, "flctrl: Integral + Gyro Gier");

	static int32_t stick_kp = 8;
	TDC_INT32(stick_kp, "flctrl: Stick-P /16");

	static int32_t stick_gas, stick_nick, stick_roll, stick_gier;
	stick_gas = rc.chan[2];
	stick_nick = (rc.chan[0] * stick_kp) / 16;
	stick_roll = (rc.chan[1] * stick_kp) / 16;
	stick_gier = rc.chan[3] / 4;

	TDC_INT32_RO(stick_gas, "Stick Gas");
	TDC_INT32_RO(stick_nick, "Stick Nick");
	TDC_INT32_RO(stick_roll, "Stick Roll");
	TDC_INT32_RO(stick_gier, "Stick Gier");

	static int32_t gier_kp = 32;
	TDC_INT32(gier_kp, "flctrl: Gier-P (/256)");
	gier_integral -= gier_kp * stick_gier * abs(stick_gier) / 256;

	static int32_t mixer_gas, mixer_nick, mixer_roll, mixer_gier;
	mixer_gas = stick_gas;
	mixer_nick = pid_ctrl(&pid_nick, stick_nick - nick);
	mixer_roll = pid_ctrl(&pid_roll, stick_roll - roll);
	mixer_gier = pid_ctrl(&pid_gier, stick_gier - gier);

	/* mix gas/nick/roll/gier -> 4 motors */
	motor_mixer(mixer_gas, mixer_nick, mixer_roll, mixer_gier);

	TDC_INT32_RO(mixer_gas, "Mixer Gas");
	TDC_INT32_RO(mixer_nick, "Mixer Nick");
	TDC_INT32_RO(mixer_roll, "Mixer Roll");
	TDC_INT32_RO(mixer_gier, "Mixer Gier");
}