コントローラの製作
今まではPCに接続してコントロールしていましたが、今度は運転台のようなコントローラを作ります。
【製作中】
メインのマイコンにPIC32MX120F032Bを使用してドライブボードと２３２Cで通信します。
LDC表示器に秋月のＡＱＭ１６０２Ｙ－ＲＮ－ＧＢＷを使用します。
スピードメーターには秋月の赤色バーＬＥＤアレイＯＳＸ１０２０１－Ｒを2個使い、２０のLEDバーで速度と実際に駆動しているパワーをLEDの点滅で表示します。LEDバーのコントロールにPIC16F1933を使用して、I2CのSlaveモードでPIC32と通信します。
・列車１は運転の記録・再生が出来ます。I2CのEEPROM 24LC64にプログラム運転を記録します。
動画です。
3Dプリンタでフレームを作って仮組
3Dプリンタでパネルを作ったところ
プリント基板で製作中
LEDバー表示用 PIC16F1933のコード
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//********************************************************* //2020_02_11 LED_BAR //********************************************************* #include <xc.h> #define _XTAL_FREQ 4000000 #pragma config CPD = OFF #pragma config BOREN = OFF #pragma config IESO = OFF //#pragma config DEBUG = OFF #pragma config FOSC =INTOSC //HS #pragma config FCMEN = OFF #pragma config MCLRE = OFF #pragma config WDTE = OFF //ON #pragma config CP = OFF #pragma config LVP = OFF #pragma config PWRTE = ON #define RXBUFFER_SIZE 4 #define STATE1 0b00001001 // 0x09 master write last was address #define STATE2 0b00101001 // 0x29 master write last was data #define STATE3 0b00001101 // 0x0d master read last was address #define STATE4 0b00101100 // 0x2c master write last was data #define STATE5 0b00101000 // 0x28 //PORTアクセス用共用体 union byte_access_long { long LNG; // Long Access struct { // byte Access unsigned char L1; unsigned char H1; unsigned char L2; } BYTE; struct { unsigned char PORTB : 8; unsigned char PORTA : 7; unsigned char PORTC1 : 3; unsigned char PORTC2 : 2; } BIT; }; volatile unsigned char RXBuffer[RXBUFFER_SIZE]; volatile unsigned char RXBufferIndex = 0; void setUpI2CSlave(void); void I2CWrite(unsigned char); long LED_BAR(unsigned char, unsigned char, char); //******************************************************** void main(void) { //最高速32MHｚ OSCCONbits.SPLLEN = 1; //×4 PLL OSCCONbits.IRCF = 14; //8MHz ANSELA = 0; // アナログ入力 AN8からAN13 を無効 ANSELB = 0; // アナログ入力 AN0からAN7 を無効 PORTA = 0; PORTB = 0; TRISA = 0; TRISB = 0; TRISC = 0b11000; OPTION_REG = 0x0f; // WDT,Int Fall, pulup __delay_ms(10); // 10msec setUpI2CSlave(); //I2C SlaveMode setting while (1) { union byte_access_long speed_led; speed_led.LNG = LED_BAR(RXBuffer[0], 1, RXBuffer[1]);//i:speed d:明るさ1-10 b:powerの点滅 PORTB = speed_led.BIT.PORTB; PORTA = speed_led.BIT.PORTA << 1; PORTC = speed_led.BIT.PORTC1 | (speed_led.BIT.PORTC2 << 5); //CLRWDT(); __delay_ms(10); // 10msec } } //I2C ADDRESS main用 0x10, sub用 0x12 #define I2C_ADDR 0x10 // I2C 7bit address void setUpI2CSlave() { SSPCON2 = 0b00000001; //SEN is set to enable clock stretching SSPCON3 = 0x00; SSPADD = I2C_ADDR << 1; //7-bit address is stored in the 7 MSB's of the SSP1ADD register********** SSPSTAT = 0x00; SSPCON1 = 0b00110110; /* Enable interrupts */ SSPIF = 0; //Clear MSSP interrupt flag SSPIE = 1; //I2C interrupt enable //end I2C(1) setup---------------------------------------------------------------- // Common Interrupt PEIE = 1; // Enable Peripheral interrupts GIE = 1; // Enable global interrupts } void checkStatAndMngI2c() { static char DAStatus = 0; unsigned char i2cStatus, value; i2cStatus = SSPSTAT; i2cStatus = (i2cStatus & 0b00101101); //Mask out unimportant bits // switch (i2cStatus) { case STATE1: value = SSPBUF; //read buffer, clear BF RXBufferIndex = 0; //clear index DAStatus = 1; // next call is address inside memory if (SSPCON1bits.SSPOV)SSPCON1bits.SSPOV = 0; //clear receive overflow indicator if (SSPCON2bits.SEN) SSPCON1bits.CKP = 1; //release the SCL line break; case STATE2: value = SSPBUF; //read buffer, clear BF if (DAStatus == 1) { RXBufferIndex = value; DAStatus = 2; } else { RXBuffer[RXBufferIndex] = value; RXBufferIndex++; //increment index if (RXBufferIndex >= RXBUFFER_SIZE) RXBufferIndex = 0; } if (SSPCON2bits.SEN) SSPCON1bits.CKP = 1; //release the SCL line break; case STATE3: value = SSPBUF; //dummy read if (RXBufferIndex >= RXBUFFER_SIZE) RXBufferIndex = 0; I2CWrite(RXBuffer[RXBufferIndex]); //write back the index of status requested RXBufferIndex++; break; case STATE4: if (RXBufferIndex >= RXBUFFER_SIZE) RXBufferIndex = 0; I2CWrite(RXBuffer[RXBufferIndex]); //write back the index of status requested RXBufferIndex++; break; case STATE5: break; default: if (SSPCON2bits.SEN) SSPCON1bits.CKP = 1; //release the SCL line break; } } void __interrupt() I2Cinterrupt() { if (SSPIF) { SSPIF = 0; // Clear interrupt flag checkStatAndMngI2c(); } } //Byte送信 void I2CWrite(unsigned char data) { while (SSPSTATbits.BF); //wait while buffer is full do { SSPCON1bits.WCOL = 0; //clear write collision flag SSPBUF = data; } while (SSPCON1bits.WCOL); //do until write collision flag is clear if (SSPCON2bits.SEN) SSPCON1bits.CKP = 1; //release the SCL line } long LED_BAR(unsigned char i, unsigned char d, char b) { //i:speed d:明るさ1-10 b:powerの点滅 unsigned char s; long ret = 1; long b_p = 1; static unsigned char blink; unsigned char blink_t = 50; static unsigned char dimmer; if (!dimmer--) { dimmer = 10; if (!blink--) blink = blink_t; } if (dimmer <= d) {//dimer s = i; ret <<= s; ret--; } else { ret = 0; } b_p <<= b; if (blink > (blink_t >> 1)) { //blink_kｎ半分の時間点灯 ret |= b_p; } else { ret &= ~b_p; } return ret; } |
SWLED表示用 PIC16F1827のコード
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//********************************************************* //2020_03_20 //********************************************************* #include <xc.h> #define _XTAL_FREQ 4000000 #pragma config CPD = OFF #pragma config BOREN = OFF #pragma config IESO = OFF #pragma config FOSC =INTOSC //HS #pragma config FCMEN = OFF #pragma config MCLRE = OFF #pragma config WDTE = OFF //ON #pragma config CP = OFF #pragma config LVP = OFF #pragma config PWRTE = ON #define RXBUFFER_SIZE 4 #define STATE1 0b00001001 // 0x09 master write last was address #define STATE2 0b00101001 // 0x29 master write last was data #define STATE3 0b00001101 // 0x0d master read last was address #define STATE4 0b00101100 // 0x2c master write last was data #define STATE5 0b00101000 // 0x28 volatile unsigned char RXBuffer[RXBUFFER_SIZE]; volatile unsigned char RXBufferIndex = 0; void setUpI2CSlave(void); void I2CWrite(unsigned char); //******************************************************** void main(void) { //最高速32MHｚ OSCCONbits.SPLLEN = 1; //×4 PLL OSCCONbits.IRCF = 14; //8MHz ANSELA = 0; // アナログ入力 AN8からAN13 を無効 ANSELB = 0; // アナログ入力 AN0からAN7 を無効 PORTA = 0; PORTB = 0; TRISA = 0; TRISB = 0b10010; OPTION_REG = 0x0f; // WDT,Int Fall, pulup __delay_ms(10); // 10msec setUpI2CSlave(); //I2C SlaveMode setting while (1) { //I2Cで受信したデータをポートに出力 PORTB = RXBuffer[1]; PORTA = RXBuffer[0]; __delay_ms(10); // 10msec } } #define I2C_ADDR 0x11 // I2C 7bit address void setUpI2CSlave() { SSPCON2 = 0b00000001; //SEN is set to enable clock stretching SSPCON3 = 0x00; SSPADD = I2C_ADDR << 1; //7-bit address is stored in the 7 MSB's of the SSP1ADD register********** SSPSTAT = 0x00; SSPCON1 = 0b00110110; /* Enable interrupts */ SSP1IF = 0; //Clear MSSP interrupt flag SSP1IE = 1; //I2C interrupt enable //end I2C(1) setup---------------------------------------------------------------- // Common Interrupt PEIE = 1; // Enable Peripheral interrupts GIE = 1; // Enable global interrupts } void checkStatAndMngI2c() { static char DAStatus = 0; unsigned char i2cStatus, value; i2cStatus = SSPSTAT; i2cStatus = (i2cStatus & 0b00101101); //Mask out unimportant bits // switch (i2cStatus) { case STATE1: value = SSPBUF; //read buffer, clear BF RXBufferIndex = 0; //clear index DAStatus = 1; // next call is address inside memory if (SSPCON1bits.SSPOV)SSPCON1bits.SSPOV = 0; //clear receive overflow indicator if (SSPCON2bits.SEN) SSPCON1bits.CKP = 1; //release the SCL line break; case STATE2: value = SSPBUF; //read buffer, clear BF if (DAStatus == 1) { RXBufferIndex = value; DAStatus = 2; } else { RXBuffer[RXBufferIndex] = value; RXBufferIndex++; //increment index if (RXBufferIndex >= RXBUFFER_SIZE) RXBufferIndex = 0; } if (SSPCON2bits.SEN) SSPCON1bits.CKP = 1; //release the SCL line break; case STATE3: value = SSPBUF; //dummy read if (RXBufferIndex >= RXBUFFER_SIZE) RXBufferIndex = 0; I2CWrite(RXBuffer[RXBufferIndex]); //write back the index of status requested RXBufferIndex++; break; case STATE4: if (RXBufferIndex >= RXBUFFER_SIZE) RXBufferIndex = 0; I2CWrite(RXBuffer[RXBufferIndex]); //write back the index of status requested RXBufferIndex++; break; case STATE5: break; default: if (SSPCON2bits.SEN) SSPCON1bits.CKP = 1; //release the SCL line break; } } void __interrupt() I2Cinterrupt() { if (SSP1IF) { SSP1IF = 0; // Clear interrupt flag checkStatAndMngI2c(); } } //Byte送信 void I2CWrite(unsigned char data) { while (SSPSTATbits.BF); //wait while buffer is full do { SSPCON1bits.WCOL = 0; //clear write collision flag SSPBUF = data; } while (SSPCON1bits.WCOL); //do until write collision flag is clear if (SSPCON2bits.SEN) SSPCON1bits.CKP = 1; //release the SCL line } |
PIC32のコード
Harmonyの設定
Timerを２つ使います。
Debug中ですが
app.hに一行追加
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// ***************************************************************************** // ***************************************************************************** // Section: Included Files // ***************************************************************************** // ***************************************************************************** #include <stdint.h> #include <stdbool.h> #include <stddef.h> #include <stdlib.h> #include "system_config.h" #include "system_definitions.h" #include "atc.h" //追加 |
atc.h （ ヘッダーファイルに追加）
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// //2021_0821 #define TR_COUNT 3 //列車数 #define ROSEN_NUM 0 //路線（ボード）番号 #define BOARD_COUNT 3 //ボード数 #define RX_BYTE 230 //128//RS232C受信バイト数 #define TX_BYTE 128 //230 //RS232C送信バイト数 #define RX_DATA_BYTE 12 //1列車当たりの受信バイト数 #define TX_DATA_BYTE 12 //1列車当たりの送信バイト数 #define POINT_COUNT 4 //ポイント数 #define YARD_COUNT 2 //YARD数 #define STOP_POS_COUNT 2 //停止位置数 //I2C用変数 DRV_HANDLE hi2c; DRV_I2C_BUFFER_HANDLE bhi2c; //USART用変数 DRV_HANDLE handleUSART0; bool ext_int_enable; //16bitのINT型の上位H byte、下位L byte読み込み用共用体 union byte_access { int INT; // Int Access struct { // byte Access unsigned char L; unsigned char H; } BYTE; }; //位置情報の構造体 union POSITION { //位置情報 unsigned char BYTE; /* Byte Access */ //struct PSI_BIT BIT; /* Bit Access */ struct { unsigned char KUKAN : 3; /* 区間 Bit 0-2 */ unsigned char ROSEN : 3; /* 路線 Bit 3-5 */ unsigned char SOU : 1; /* 相 Bit 6 */ unsigned char DIR : 1; /* 方向 Bit 7 */ } BIT; }; struct STATUS_BIT { unsigned char CHG : 1; //区間変化 unsigned char SP_MANU : 1; //speed manual unsigned char REV : 1; //逆転 unsigned char CHG_RCV : 1; //chg flg unsigned char DUMY : 2; //DUMY unsigned char SLOW : 1; //減速 unsigned char SAFE : 1; //安全 }; typedef enum { NONE = 0, P_SW_ON, SWITCH_REQ, SWITCHING, WAITING, } POINT_STATE; typedef enum { SAFE = 0, WAIT_PASS, IMPOSSIBLE, } POINT_SAFE; typedef enum { YARD_NONE = 0, Y_SW_ON, YARD_REQ, YARD_COMP, POINT_COMP, YARD_STOP, YARD_STOP_COMP, POINT_RET, POINT_RET_COMP, YARD_END, START_REQ, START_REQ_ACK, READY_START, EXIT_POS, } YARD_STATE; typedef enum { GO = 0, STOP, SLOW, STOP_REV, SLOW_POINT, SLOW_YARD, } SAFE_FLAG; //列車の位置情報の構造体 struct st_position { //現在位置 union POSITION NOW; //前の位置 union POSITION BEFORE; //次の位置 union POSITION NEXT; //次々の位置 union POSITION ANEXT; union { unsigned char BYTE; /* Byte Access */ struct STATUS_BIT BIT; /* Bit Access */ } STATUS; int speed; union byte_access speed_cont; int speed_err; int speed_peak; int mascon; unsigned char henka; //unsigned char safe; union byte_access speed_ret; //読み取りスピード union byte_access speed_ret_rx; //読み取りスピード union byte_access speed_ret_tx; //読み取りスピード union byte_access power; unsigned char point; unsigned char point_num; unsigned char yard; unsigned char yard_num; unsigned char revers_req; union byte_access speed_rx; unsigned char REC_NOW; unsigned char REC_NEXT; unsigned char REC_BEFORE; POINT_STATE point_state; YARD_STATE yard_state; }; //監視区間設定用の共用体 union scan_port { unsigned char BYTE; /* Byte Access */ struct { unsigned char DUMMY : 2; /* Bit 0-1 */ unsigned char KUKAN : 3; /* Bit 2-4 監視区間*/ unsigned char DISABLE : 1; /* Bit 5 */ unsigned char B6 : 1; /* Bit 6 */ } BIT; }; //ポイント用共用体 struct point { union POSITION approach; union POSITION exit; unsigned char num; }; struct yard { union POSITION approach; union POSITION start; union POSITION exit; union POSITION approach_b; union POSITION start_b; union POSITION exit_b; unsigned char point_num; unsigned char line; unsigned char exist; unsigned char type; unsigned char y_cont; unsigned char p_cont; }; //停止位置 struct stop_position { union POSITION pos; char point_num; }; //操作盤用 struct ContPanel { struct { unsigned char POINT : 1; unsigned char REVERS : 1; unsigned char YARD : 1; } SW; struct { unsigned char POINT : 1; unsigned char REVERS : 1; unsigned char YARD : 1; } LED; char point_num; char yard; char line; }; struct RecList { union POSITION pos; unsigned char speed; union { unsigned char BYTE; /* Byte Access */ struct { unsigned char YARD : 3; unsigned char LINE : 3; unsigned char ENABLE : 1; } BIT; } yard; union { unsigned char BYTE; /* Byte Access */ struct { unsigned char POINT_NUM : 3; unsigned char ENABLE : 1; unsigned char REVERS : 1; } BIT; } point; //unsigned char point; }; struct RecList rec_list[128]; unsigned char step; unsigned char step_stop; unsigned char rec_status; unsigned char EnableBit[] = {1, 2, 4, 8, 16, 32, 64, 128}; unsigned int int_counter; //インタラプトカウンタ unsigned int speed_pw[2]; //スピードパルス幅 struct st_position train[TR_COUNT]; //列車位置情報 struct st_position* train_sou[2]; unsigned char cont_train[2]; //制御する列車番号 unsigned char kukan[2]; //区間 unsigned char kanshi_now[2]; //スピード読み込み用 unsigned char kanshi_before[2]; //スピード読み込み用 union scan_port kanshi; //区間監視用 union byte_access adc_ret; //ADC値 union byte_access adc_brk_ret; //ブレーキのADC値 union byte_access debug1; //ADC値 int gnd_adc; union byte_access gnd_level; unsigned char rx_data[RX_BYTE]; unsigned char tx_data[TX_BYTE]; unsigned char receive_data; //通信用受信データ unsigned char send_data; //通信用送信データ unsigned char comm_data[128]; //通信用メモリ unsigned int comm_counter; //通信用インタラプトカウンタ unsigned char board_num; //ボード番号 unsigned char point_req; //ポイントリクエスト unsigned char yard_req; //ポイントリクエスト unsigned char int_count; //interrupt count unsigned char sw_input[4]; //sw char key_on[20]; char key_count[20]; char key_down[20]; unsigned char r_enc; struct point point[POINT_COUNT]; struct yard yard[YARD_COUNT]; struct stop_position stop_pos[STOP_POS_COUNT]; struct ContPanel cont_panel[TR_COUNT]; //Curser用 #define CUR_MAX 6 char curser_pos; char SetPos_y[] = {0, 1, 1, 0, 1, 1}; char SetPos_x[] = {2, 2, 4, 9, 9, 11}; char cont_sel; char disp_mode; char disp_page; #define PAGE_MAX 3 int Brake; char speed_mode; char test1; char test2; #define EEP_PAGE 32 unsigned char eep_data[256]; unsigned char eep_page_data[34]; //(2+32) unsigned char prg_num; unsigned char repeat; unsigned char count_dwn; unsigned char disp_pos; //debug monitor unsigned char point_test; |
lcd.c （SourceFiles appに追加）
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// //2021_0418 // #include "system/common/sys_common.h" #include "app.h" #include "system_definitions.h" #define ADR 0x7C #define PIC_ADR 0x20 //PIC16F1827 slave void LCD_cmd(char); void LCD_int(void); void LCD_str(char *); void LCD_dat(char); void LCD_hex(char); void LCD_posyx(char, char); void LCD_dec(int, char); void PIC_dat(char, unsigned char, unsigned char, unsigned char); unsigned char EEP_Read(int, unsigned char, unsigned char); void EEP_Write(int, char, unsigned char); void BSP_DelayMs(unsigned short); void BSP_DelayUs(unsigned short); uint8_t data[5]; uint8_t r_data[256]; //遅延調整用関数（ｍｓ） void BSP_DelayMs(unsigned short milliseconds) { unsigned long time; time = _CP0_GET_COUNT(); //Read Core Timer time += (SYS_CLK_FREQ / 2 / 1000) * milliseconds; //calc the Stop Time while ((long) (time - _CP0_GET_COUNT()) > 0) { }; } //遅延調整用関数（μｓ） void BSP_DelayUs(unsigned short microseconds) { unsigned long time; time = _CP0_GET_COUNT(); //Read Core Timer time += (SYS_CLK_FREQ / 2 / 1000000) * microseconds; //calc the Stop Time while ((long) (time - _CP0_GET_COUNT()) > 0) { }; } void LCD_cmd(char cmd) { data[0] = 0x80; data[1] = cmd; bhi2c = DRV_I2C_Transmit(hi2c, ADR, data, 2, NULL); //I2C送信 while (DRV_I2C_TransferStatusGet(hi2c, bhi2c) != DRV_I2C_BUFFER_EVENT_COMPLETE); /*I2C完了待ち*/ if (cmd & 0xFC) // LCDのコマンドにより待ち時間が違う BSP_DelayUs(60); // 60usec else BSP_DelayMs(3); // 3msec } void LCD_int(void) { BSP_DelayMs(100); LCD_cmd(0x38); LCD_cmd(0x39); LCD_cmd(0x14); LCD_cmd(0x73); //7A(forAQM1602) LCD_cmd(0x56); //54(forAQM1602) LCD_cmd(0x6C); BSP_DelayMs(200); LCD_cmd(0x0C); //Disp ON/OFF LCD_cmd(0x01); // Clear Display BSP_DelayUs(1100); } //文字列表示 void LCD_str(char *str) { while (*str) //0x00まで繰り返し LCD_dat(*str++); //１文字表示 } //１文字表示 void LCD_dat(char chr) { data[0] = 0x40; data[1] = chr; //I2C送信 bhi2c = DRV_I2C_Transmit(hi2c, ADR, data, 2, NULL); while (DRV_I2C_TransferStatusGet(hi2c, bhi2c) != DRV_I2C_BUFFER_EVENT_COMPLETE); BSP_DelayUs(60); // 60usec } //-------- １６進文字変換表示 ---------------- void LCD_hex(char c) { const char hexch[] = "0123456789ABCDEF"; LCD_dat(hexch[c >> 4]); //上位4bit表示 LCD_dat(hexch[c & 0xF]); //下位4bit表示 } //--------３桁 １０進文字表示 ---------------- void LCD_dec(int i, char c) { const char decch[] = "0123456789 "; char n[3]; n[2] = i / 100; n[1] = (i % 100) / 10; n[0] = i % 10; if (n[2] == 0) { n[2] = 10; //100の桁は０ならスペース if (n[1] == 0) { n[1] = 10; //100の桁０で10の桁０ならスペース } } if (c > 2) LCD_dat(decch[n[2]]); if (c > 1) LCD_dat(decch[n[1]]); LCD_dat(decch[n[0]]); } //-------- カーソル位置指定 -------------------------------------- void LCD_posyx(char ypos, char xpos) { unsigned char pcode; switch (ypos & 0x03) { // 縦位置を取得 case 0: pcode = 0x80; break; // 1行目 case 1: pcode = 0xC0; break; // 2行目 case 2: pcode = 0x94; break; // 3行目 case 3: pcode = 0xD4; break; // 4行目 } LCD_cmd(pcode += xpos); // 横位置を加える } void PIC_dat(char start, unsigned char d1, unsigned char d2, unsigned char adr) { data[0] = start; data[1] = d1; data[2] = d2; //I2C送信 bhi2c = DRV_I2C_Transmit(hi2c, adr, data, 3, NULL); while (DRV_I2C_TransferStatusGet(hi2c, bhi2c) != DRV_I2C_BUFFER_EVENT_COMPLETE); BSP_DelayUs(60); // 60usec } void EEP_Write(int adr, char page, unsigned char i2c_adr) { char count = 3; //1byte write(2+1) if (page) count = 34; //page write(2+32) 24LC64は1page32byte eep_page_data[0] = adr >> 8; eep_page_data[1] = adr & 0xFF; //I2C送信 bhi2c = DRV_I2C_Transmit(hi2c, i2c_adr, eep_page_data, count, NULL); while (DRV_I2C_TransferStatusGet(hi2c, bhi2c) != DRV_I2C_BUFFER_EVENT_COMPLETE); BSP_DelayMs(10); // 10msec } unsigned char EEP_Read(int adr, unsigned char count, unsigned char i2c_adr) { data[0] = adr >> 8; data[1] = adr & 0xFF; //I2C送信 bhi2c = DRV_I2C_Transmit(hi2c, i2c_adr, data, 2, NULL); while (DRV_I2C_TransferStatusGet(hi2c, bhi2c) != DRV_I2C_BUFFER_EVENT_COMPLETE); BSP_DelayUs(60); // 60usec //DRV_I2C_BUFFER_HANDLE DRV_I2C_Receive ( DRV_HANDLE drvhandle, uint16_t deviceaddress, // void *rxBuffer, size_t size, void * context) bhi2c = DRV_I2C_Receive(hi2c, i2c_adr, eep_data, count, NULL); //DRV_I2C_TransmitThenReceive ( DRV_HANDLE drvhandle, uint16_t deviceaddress, // void *txBuffer, size_t wsize, // void *rxBuffer, size_t rsize, void * context); //bhi2c = DRV_I2C_TransmitThenReceive(hi2c, adr + 1, data, 0, r_data, 1, NULL); while (DRV_I2C_TransferStatusGet(hi2c, bhi2c) != DRV_I2C_BUFFER_EVENT_COMPLETE); BSP_DelayUs(60); // 60usec return eep_data[0]; } /******************************************************************************* End of File */ |
timer_int.c （SourceFiles appに追加）
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// // //2020_0829 // #include "system/common/sys_common.h" #include "app.h" #include "system_definitions.h" void KeyIn(char); void timer_int_func() { unsigned char n, p; static char enc_c[2]; static char enc_on[2]; unsigned char sw_pos = int_count++ >> 2 & 0b11; _RB2 = 0; _RA2 = 0; _RB3 = 0; _RA3 = 0; // PORTB &= 0b11; //RB2,3=0 // PORTA &= 0b11; //RA2,3=0 switch (sw_pos) { case 0: _RB2 = 1; break; case 1: _RB3 = 1; break; case 2: _RA2 = 1; break; case 3: _RA3 = 1; break; } KeyIn(sw_pos); //KeyInput //ロータリーエンコーダ入力 if (_RB11 == 0) { if (enc_c[0]++ > 1) { enc_c[0] = 1; if (enc_on[0] == 0) { enc_on[0] = 1; if (_RB10 == 1) { r_enc--; if (train[cont_sel].mascon > 0) train[cont_sel].mascon--; } } } } else if (--enc_c[0] < 0) { enc_c[0] = 0; enc_on[0] = 0; } if (_RB10 == 0) { if (enc_c[1]++ > 1) { enc_c[1] = 1; if (enc_on[1] == 0) { enc_on[1] = 1; if (_RB11 == 1) { r_enc++; if (train[cont_sel].mascon < 100) train[cont_sel].mascon++; } } } } else if (--enc_c[1] < 0) { enc_c[1] = 0; enc_on[1] = 0; } // if (enc_rise[0] == 1) { // enc_rise[0] = 0; // r_enc++; // } //if (int_count++ & 0x3F)return; //以下64回に1回実行 } void timer_int_func_rs() { unsigned char n, p; //ヘッダーとして&H55,&HAAを送る tx_data[0] = 0x55; tx_data[1] = 0xAA; for (n = 0; n < TR_COUNT; n++) { p = n * TX_DATA_BYTE + 2; union byte_access send_speed; send_speed.INT = train[n].speed; tx_data[p] = send_speed.BYTE.L; tx_data[p + 1] = train[n].NOW.BYTE; tx_data[p + 2] = train[n].BEFORE.BYTE; tx_data[p + 3] = train[n].NEXT.BYTE; tx_data[p + 4] = train[n].STATUS.BYTE; tx_data[p + 5] = train[n].point; tx_data[p + 6] = train[n].yard; } // 送信用メモリデータをPCに転送します for (n = 0; n < TX_BYTE; n++) { DRV_USART_WriteByte(DRV_USART_INDEX_0, tx_data[n]); } //ADC読み込み PLIB_ADC_MuxChannel0InputPositiveSelect(DRV_ADC_ID_1, ADC_MUX_A, ADC_INPUT_POSITIVE_AN0); //AN0:mainマスコンVR PLIB_ADC_SamplingStart(ADC_ID_1); while (!PLIB_ADC_ConversionHasCompleted(ADC_ID_1)); adc_ret.INT = PLIB_ADC_ResultGetByIndex(ADC_ID_1, 0); //ブレーキVR読み込み PLIB_ADC_MuxChannel0InputPositiveSelect(DRV_ADC_ID_1, ADC_MUX_A, ADC_INPUT_POSITIVE_AN1); //AN1:ブレーキVR PLIB_ADC_SamplingStart(ADC_ID_1); while (!PLIB_ADC_ConversionHasCompleted(ADC_ID_1)); adc_brk_ret.INT = PLIB_ADC_ResultGetByIndex(ADC_ID_1, 0); } void KeyIn(char row) { char p, n, key; for (p = 0; p < 5; p++) { n = row * 5 + p; if (p < 4) { key = PORTB & EnableBit[p + 4]; } else { key = _RA4; } if (key) {//RB4- if (key_count[n]++ > 3) { key_count[n] = 3; if (!key_on[n]) { key_on[n] = 1; key_down[n] = 1; } } } else if (--key_count[n] < 0) { key_count[n] = 0; key_on[n] = 0; } } } /* ***************************************************************************** End of File */ |
app.cの APP_Tasks 以下を挿げ替えます。
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// //2021_0829 /****************************************************************************** Function: void APP_Tasks ( void ) Remarks: See prototype in app.h. */ void ini_train(char); void train_set(unsigned char, union POSITION p1); void section_chg(unsigned char); void reverse(unsigned char); int speed_up_down(char, int, char); int stoppage_time(char, int); unsigned char safe_check(unsigned char); void point_set(unsigned char, unsigned char, union POSITION, union POSITION); union POSITION point_pos(unsigned char, union POSITION); POINT_SAFE point_safe_check(unsigned char, union POSITION); union POSITION position_set(unsigned char, unsigned char, unsigned char, unsigned char); void point_process(void); bool point_exit_position(unsigned char, union POSITION); void yard_process(void); void yard_set(unsigned char, union POSITION, unsigned char, unsigned char, unsigned char, unsigned char); union POSITION next_position(union POSITION); void LcdDisp(void); void KeyCont(void); char SelLED(char); char yard_line_num(char, char, char, char); void yard_set_line(char, char, char); bool yard_exit_pos(unsigned char, union POSITION); void stop_pos_set(char, union POSITION, char); void stop_pos_process(void); void rec_play(void); void SavePlayList(unsigned char); void LoadPlayList(unsigned char); void DelPlayList(unsigned char); unsigned char ExistList(unsigned char); unsigned char NextList(unsigned char, char); void ClrRecList(void); POINT_SAFE yard_safe_check(unsigned char, union POSITION); void APP_Tasks(void) { /* Check the application's current state. */ switch (appData.state) { /* Application's initial state. */ case APP_STATE_INIT: { bool appInitialized = true; char n; DRV_ADC_Open(); //Enable ADC //USART if (handleUSART0 == DRV_HANDLE_INVALID) { handleUSART0 = DRV_USART_Open(0, DRV_IO_INTENT_READWRITE | DRV_IO_INTENT_NONBLOCKING); appInitialized &= (DRV_HANDLE_INVALID != handleUSART0); } //I2C Open hi2c = DRV_I2C_Open(DRV_I2C_INDEX_0, DRV_IO_INTENT_READWRITE | DRV_IO_INTENT_NONBLOCKING); if (hi2c != DRV_HANDLE_INVALID) { //LCD初期化 LCD_int(); LCD_str("PC_REM"); LCD_cmd(0x0F); } ini_train(-1); //列車A相 //train[0].mascon = 0x18; //スピードを変える時はここを変更 //union POSITION p1 = position_set(0, 1, 0, 0); //rose //train_set(0, p1); //n,rosen,section,dir,sou //train[0].STATUS.BIT.SP_MANU = 1; for (n = 0; n < TR_COUNT; n++) { train[n].mascon = 0; cont_panel[n].point_num = -1; } //列車B相 //スピードを変える時はここを変更 //train[2].mascon = 0; //train_set(1, 0, 5, 0, 1); //n,rosen,section,dir,sou //ポイント(0) = New PointClass(New 位置情報(4, 0, 0, 0), New 位置情報(5, 1, 1, 0), 0) //ポイント(1) = New PointClass(New 位置情報(4, 1, 0, 0), New 位置情報(5, 0, 1, 0), 0) //区,路,向,sou //ポイント(0) = New PointClass(New 位置情報(1, 0, 0, 0), New 位置情報(3, 1, 1, 0), 0) //ポイント(1) = New PointClass(New 位置情報(2, 1, 0, 0), New 位置情報(2, 0, 1, 0), 0) //ポイント(2) = New PointClass(New 位置情報(0, 1, 0, 0), New 位置情報(0, 2, 1, 0), 1) //ポイント(3) = New PointClass(New 位置情報(3, 2, 0, 0), New 位置情報(7, 0, 1, 0), 2) //ポイント情報設定 union POSITION p1; union POSITION p2; //TEST レイアイウト // p1 = position_set(0, 4, 0, 0); //rosen,section,dir,sou // p2 = position_set(1, 5, 1, 0); // point_set(0, 0, p1, p2); // p1 = position_set(1, 4, 0, 0); // p2 = position_set(0, 5, 1, 0); // point_set(1, 0, p1, p2); //大 レイアイウト p1 = position_set(0, 1, 0, 0); //rosen,section,dir,sou p2 = position_set(1, 3, 1, 0); point_set(0, 0, p1, p2); p1 = position_set(1, 2, 0, 0); p2 = position_set(0, 2, 1, 0); point_set(1, 0, p1, p2); //ポイント(2) = New PointClass(New 位置情報(0, 1, 0, 0), New 位置情報(0, 2, 1, 0), 1) p1 = position_set(1, 0, 0, 0); p2 = position_set(2, 0, 1, 0); point_set(2, 1, p1, p2); //ポイント(3) = New PointClass(New 位置情報(3, 2, 0, 0), New 位置情報(7, 0, 1, 0), 2) p1 = position_set(2, 3, 0, 0); p2 = position_set(0, 7, 1, 0); point_set(3, 2, p1, p2); //yard(0) = New YardClass(New 位置情報(7, 1, 1, 0), 3, "11010101", "01010001", 0) //p1 = position_set(1, 1, 0, 0); p1 = position_set(1, 7, 1, 0); yard_set(0, p1, 3, 0b11010101, 0b1010001, 0); //n, p1, point, line, exist, type p1 = position_set(0, 0, 0, 0); yard_set(1, p1, 4, 0b11, 0b11, 1); //yard(1) = New YardClass(New 位置情報(0, 0, 0, 0), 4, "11", "01", 1) //停止位置設定 //p1 = position_set(0, 5, 0, 0); //stop_pos_set(0, p1, -1); //行き止まり位置 p1 = position_set(2, 0, 1, 0); //車止位置(0) = New 停止位置class(New 位置情報(0, 2, 1, 0), 1) stop_pos_set(0, p1, 1); //num,pos,point p1 = position_set(2, 3, 0, 0); //車止位置(1) = New 停止位置class(New 位置情報(3, 2, 0, 0), 2) stop_pos_set(1, p1, 2); disp_mode = 0; disp_page = 0; speed_mode = 0; count_dwn = 0; DRV_TMR0_Start(); //TimerStart DRV_TMR1_Start(); //TimerStart if (appInitialized) { appData.state = APP_STATE_SERVICE_TASKS; } break; } case APP_STATE_SERVICE_TASKS: { unsigned char n, p; unsigned char ret; union byte_access time_out; long count; rx_data[0] = 0; rx_data[1] = 0; time_out.INT = 0; U1STAbits.OERR = 0; //受信バッファ・エラークリア ret = 0; while (ret != 0x55) { //0x55が来るまでずーと待つ while (!DRV_USART_ReceiverBufferIsEmpty(DRV_USART_INDEX_0)) { ret = DRV_USART_ReadByte(DRV_USART_INDEX_0); } } for (n = 1; n < RX_BYTE; n++) { count = 0; while (DRV_USART_ReceiverBufferIsEmpty(DRV_USART_INDEX_0)) { if (count++ > 0xfffff)break; } if (count > 0xfffff)break; //TimeOutで外へ rx_data[n] = DRV_USART_ReadByte(DRV_USART_INDEX_0); } //区間変化 for (n = 0; n < TR_COUNT; n++) { p = n * RX_DATA_BYTE + 2; if (rx_data[p + 2] == 0x80) { if (train[n].STATUS.BIT.CHG_RCV == 0) { section_chg(n); train[n].STATUS.BIT.CHG_RCV = 1; //Point SW if (train[n].point_state == P_SW_ON) { train[n].point_state = SWITCH_REQ; } //YARD SW if (train[n].yard_state == Y_SW_ON) { train[n].yard_state = YARD_REQ; } //Revers Request if (train[n].revers_req == 1) { train[n].STATUS.BIT.REV = 1; train[n].revers_req = 0; } } } else { train[n].STATUS.BIT.CHG_RCV = 0; } //return speed train[n].speed_ret.BYTE.L = rx_data[p + 1]; train[n].power.BYTE.H = rx_data[p + 5]; train[n].power.BYTE.L = rx_data[p + 6]; //Point CLR if (train[n].point != 0) { if (rx_data[p + 3] == train[n].point) { train[n].point = 0; } } //Yard CLR if (train[n].yard != 0) { if (rx_data[p + 4] == train[n].yard) { train[n].yard = 0; } } } KeyCont(); rec_play(); //記録再生 point_process(); //ポイント処理 yard_process(); //YARD処理 stop_pos_process(); //停止位置処理 char time = 0; #define DEF_BRK 20 #define BRAKE 100 #define SLOW_BRAKE 30 #define SLOW_SPEED 0x2c #define SLOW_SPEED_P 0x38 #define SLOW_SPEED_Y 0x2c int slow_speed = SLOW_SPEED; for (n = 0; n < TR_COUNT; n++) { if (train[n].NOW.BYTE != 0x38) { //安全確認 switch (safe_check(n)) { case STOP: //停止 train[n].STATUS.BIT.SAFE = 0; train[n].STATUS.BIT.SLOW = 0; break; case SLOW_POINT://point speed slow_speed = SLOW_SPEED_P; train[n].STATUS.BIT.SAFE = 1; train[n].STATUS.BIT.SLOW = 1; break; case SLOW_YARD://yard speed slow_speed = SLOW_SPEED_Y; train[n].STATUS.BIT.SAFE = 1; train[n].STATUS.BIT.SLOW = 1; break; case SLOW: //減速 train[n].STATUS.BIT.SAFE = 1; train[n].STATUS.BIT.SLOW = 1; break; case STOP_REV: //向き合い停止 train[n].STATUS.BIT.SAFE = 0; train[n].STATUS.BIT.SLOW = 0; train[n].STATUS.BIT.REV = 1; //逆転 break; case GO: //安全 train[n].STATUS.BIT.SAFE = 1; train[n].STATUS.BIT.SLOW = 0; break; } //SpeedMode==DIRECT if (speed_mode == 2) train[0].STATUS.BIT.SP_MANU = 1; else train[0].STATUS.BIT.SP_MANU = 0; //REVERS if (train[n].STATUS.BIT.REV == 1) { //逆転命令 //減速 if (speed_up_down(n, 0, DEF_BRK) == 0) { //完全停止 if (stoppage_time(n, 10) == 0) { //一時停車後逆転 reverse(n); } } } else if (train[n].point_state == WAITING) { //ポイント通過待ち //停止 speed_up_down(n, 0, DEF_BRK); } else if (train[n].yard_state == YARD_STOP) { train[n].STATUS.BIT.SAFE = 0; if (speed_up_down(n, 0, BRAKE) == 0) { time = stoppage_time(n, 10); if (time == 0) { train[n].yard_state = YARD_STOP_COMP; } } } else if (train[n].yard_state == POINT_RET) { time = stoppage_time(n, 10); if (time == 0) { train[n].yard_state = POINT_RET_COMP; } } else { if (train[n].STATUS.BIT.SAFE == 1) { //安全 if (train[n].STATUS.BIT.SLOW == 1) { //SLOW if (train[n].mascon > slow_speed) { speed_up_down(n, slow_speed, SLOW_BRAKE); } else { speed_up_down(n, train[n].mascon, DEF_BRK); } //speed direct modeの時SPEED AUTOに戻す。 if (speed_mode == 2) train[0].STATUS.BIT.SP_MANU = 0; } else { //加速 if (n == 0) { if (speed_mode == 1)//マニュアルスピードの時ブレーキで減速 speed_up_down(n, train[n].mascon, -1); else speed_up_down(n, train[n].mascon, DEF_BRK); } else { speed_up_down(n, train[n].mascon, DEF_BRK); } } } else { //停止 speed_up_down(n, 0, BRAKE); } } } } #define mascon_max 100 #define brake_max 30 if (!(rec_status == 2))//PlayModeはマスコンきかない train[0].mascon = (adc_ret.INT >> 4) * mascon_max / 0x3F; Brake = (adc_brk_ret.INT >> 4) * brake_max / 0x3F; //ブレーキ Brake = brake_max - Brake; //値反転 //train[0].speed = train[0].mascon; for (n = 2; n < 15; n++) { //LCD_hex(rx_data[n]); } LcdDisp(); // LCD_posyx(0, 8); // LCD_dec(r_enc, 2); for (n = 0; n < TR_COUNT; n++) { train[n].power.INT = train[n].power.INT * 20 / 0xF0; //LED MAX train[n].speed_ret.INT = train[n].speed_ret.INT * 20 / 100; //LED MAX } //pic16f1827 slave //---speed meter--- unsigned char led_pow = train[0].power.BYTE.L; if (train[0].STATUS.BIT.SP_MANU) led_pow = train[0].speed * 20 / 100; if (train[0].NOW.BYTE == 0x38)led_pow = 0; PIC_dat(0, train[0].speed_ret.BYTE.L, led_pow, 0x20); led_pow = train[cont_sel].power.BYTE.L; if (train[cont_sel].STATUS.BIT.SP_MANU) led_pow = train[cont_sel].speed * 20 / 100; if (train[cont_sel].NOW.BYTE == 0x38)led_pow = 0; PIC_dat(0, train[cont_sel].speed_ret.BYTE.L, led_pow, 0x24); //----demo---- //PIC_dat(0, 10, 13, 0x20); //PIC_dat(0, 13, 10, 0x24); //MAIN Cont LED unsigned char led1 = cont_panel[0].LED.REVERS + cont_panel[0].LED.POINT * 2 + cont_panel[0].LED.YARD * 4; //SUB Cont LED led1 += cont_panel[cont_sel].LED.REVERS * 8 + cont_panel[cont_sel].LED.POINT * 16 + cont_panel[cont_sel].LED.YARD * 64; unsigned char led2 = SelLED(cont_sel); PIC_dat(0, led1, led2, 0x22); break; } /* TODO: implement your application state machine.*/ /* The default state should never be executed. */ default: { /* TODO: Handle error in application's state machine. */ break; } } } char SelLED(char i) { if (i >= 2) i++; return EnableBit[i - 1]; } void LcdDisp() { char n; switch (disp_mode) { case 0: LCD_posyx(0, 0); LCD_str("P:"); if (cont_panel[0].point_num < 0) LCD_str("N"); //NextPoint else LCD_dec(cont_panel[0].point_num, 1); //LCD_str(" No:"); //LCD_dec(train[cont_sel].mascon, 3); //LCD_hex(adc_brk_ret.BYTE.H); //LCD_hex(adc_brk_ret.BYTE.L); //LCD_dec(cont_sel, 1); LCD_str(" P:"); if (cont_panel[cont_sel].point_num < 0) LCD_str("N"); //NextPoint else LCD_dec(cont_panel[cont_sel].point_num, 1); LCD_str(" SPD"); LCD_posyx(1, 0); LCD_str("Y:"); LCD_dec(cont_panel[0].yard, 1); LCD_str("-"); if (cont_panel[0].line < 9) LCD_dec(cont_panel[0].line, 1); else LCD_str("X"); //不可表示 LCD_str(" Y:"); LCD_dec(cont_panel[cont_sel].yard, 1); LCD_str("-"); if (cont_panel[cont_sel].line < 9) LCD_dec(cont_panel[cont_sel].line, 1); else LCD_str("X"); //不可表示 LCD_str(" "); LCD_dec(train[cont_sel].mascon, 3); //LCD_hex(test2); //LCD_hex(test1); //Curser位置移動 LCD_posyx(SetPos_y[curser_pos], SetPos_x[curser_pos]); break; case 1: switch (disp_page) { case 0: LCD_posyx(0, 0); switch (speed_mode) { case 0: LCD_str("SPEED_AUTO "); break; case 1: LCD_str("SPEED_MANUAL "); break; case 2: LCD_str("SPEED_DIRECT "); break; } LCD_posyx(1, 0); LCD_str(" "); break; case 1: LCD_posyx(0, 0); // if (rec_status == 1) // LCD_str("RECORDING "); // else // LCD_str("REC_STOP "); LCD_str("PLAY MODE "); LCD_posyx(1, 0); LCD_str("REC MODE "); break; case 2: LCD_posyx(0, 0); if (rec_status == 0) LCD_str("ERACE MODE "); else LCD_str(" "); LCD_posyx(1, 0); LCD_str("POINT TEST "); break; case 3: LCD_posyx(0, 0); LCD_str("D:"); LCD_dec(train[0].NOW.BIT.DIR, 1); LCD_str(" R:"); LCD_dec(train[0].NOW.BIT.ROSEN, 1); LCD_str(" K:"); LCD_dec(train[0].NOW.BIT.KUKAN, 1); LCD_str(" S:"); LCD_dec(train[0].NOW.BIT.SOU, 1); LCD_posyx(1, 0); LCD_str("D:"); LCD_dec(train[1].NOW.BIT.DIR, 1); LCD_str(" R:"); LCD_dec(train[1].NOW.BIT.ROSEN, 1); LCD_str(" K:"); LCD_dec(train[1].NOW.BIT.KUKAN, 1); LCD_str(" S:"); LCD_dec(train[1].NOW.BIT.SOU, 1); break; case 4: LCD_posyx(0, 0); for (n = disp_pos; n < disp_pos + 6; n++) { LCD_hex(rec_list[n].pos.BYTE); //LCD_hex(rec_list[n].speed); } LCD_dec(Brake, 3); //LCD_dec(debug1.BYTE.H, 2); //LCD_dec(debug1.BYTE.L, 2); LCD_str(" "); LCD_posyx(1, 0); LCD_hex(step); for (n = disp_pos; n < disp_pos + 6; n++) { LCD_hex(rec_list[n].point); } //LCD_str(" "); break; } break; case 10://階層２ PLAY MODE if (ExistList(prg_num) == 0) prg_num = NextList(prg_num, -1); if (rec_status == 0) { //1行目 LCD_posyx(0, 0); LCD_str("PLAY PRG No."); LCD_dec(prg_num, 2); //2行目 LCD_posyx(1, 0); LCD_str("PLAY CANCEL"); } else if (rec_status == 2) { //1行目 LCD_posyx(0, 0); LCD_str("PLAY:"); LCD_dec(prg_num, 2); LCD_str(" "); LCD_dec(step, 2); LCD_str("/"); LCD_dec(rec_list[0].pos.BYTE, 2); LCD_str(" "); LCD_dec(count_dwn, 2); //2行目 LCD_posyx(1, 0); if (repeat) { LCD_str("STOP RPT OFF"); //LCD_dec(count_dwn, 2); } else { LCD_str("STOP RPT ON"); } } break; case 11://階層２ REC MODE LCD_posyx(0, 0); LCD_str("REC MODE "); LCD_posyx(1, 0); LCD_str("START CANCEL"); break; case 12://階層２ REC MODE LCD_posyx(0, 0); LCD_str("NOW RECORDIG... "); LCD_posyx(1, 0); LCD_str("STOP "); LCD_dec(step, 2); LCD_hex(rec_list[step].pos.BYTE); LCD_hex(rec_list[step].yard.BYTE); LCD_hex(rec_list[step].point.BYTE); break; case 13://階層3 REC END & SAVE? LCD_posyx(0, 0); LCD_str("SAVE PRG No."); LCD_dec(prg_num, 2); LCD_posyx(1, 0); if (ExistList(prg_num)) LCD_str("(O/W)? CANCEL"); else LCD_str("SAVE? CANCEL"); break; case 14://階層2 ERACE LCD_posyx(0, 0); LCD_str("ERACE PRG No."); LCD_dec(prg_num, 2); LCD_posyx(1, 0); LCD_str("OK? CANCEL"); break; case 15://階層2 POINT TEST LCD_posyx(0, 0); LCD_str("POINT TEST "); LCD_dec(point_test, 2); LCD_posyx(1, 0); LCD_str("CHG BACK"); break; } } void KeyCont() { //sel Button if (cont_sel == 0) cont_sel = 1; if (key_down[3] == 1) { key_down[3] = 0; if (++disp_mode > 1) disp_mode = 0; } //SubCont select SW char n; for (n = 0; n < TR_COUNT - 1; n++) { if (key_down[n + 15] == 1) { key_down[n + 15] = 0; cont_sel = n + 1; } } //Reverse SW if (key_down[5] == 1) { key_down[5] = 0; if (train[0].NOW.BYTE == 0x38) { //停車時 YARD出発方向設定の為 if (cont_panel[0].LED.REVERS == 0) { cont_panel[0].LED.REVERS = 1; } else { cont_panel[0].LED.REVERS = 0; } } else { //走行時 train[0].revers_req = 1; //train[0].STATUS.BIT.REV = 1; //逆転 cont_panel[0].LED.REVERS = 1; } } if (key_down[10] == 1) { key_down[10] = 0; if (train[cont_sel].NOW.BYTE == 0x38) { //停車時 YARD出発方向設定の為 if (cont_panel[cont_sel].LED.REVERS == 0) { cont_panel[cont_sel].LED.REVERS = 1; } else { cont_panel[cont_sel].LED.REVERS = 0; } } else { //走行時 train[cont_sel].revers_req = 1; //train[cont_sel].STATUS.BIT.REV = 1; //逆転 cont_panel[cont_sel].LED.REVERS = 1; } } //Point SW if (key_down[6] == 1) { key_down[6] = 0; if (train[0].point_state == NONE) { cont_panel[0].LED.POINT = 1; train[0].point_state = P_SW_ON; } else if (train[0].point_state == SWITCH_REQ || train[0].point_state == P_SW_ON) { cont_panel[0].LED.POINT = 0; train[0].point_state = NONE; } } if (key_down[11] == 1) { key_down[11] = 0; if (train[cont_sel].point_state == NONE) { cont_panel[cont_sel].LED.POINT = 1; train[cont_sel].point_state = P_SW_ON; } else if (train[cont_sel].point_state == SWITCH_REQ || train[cont_sel].point_state == P_SW_ON) { cont_panel[cont_sel].LED.POINT = 0; train[cont_sel].point_state = NONE; } } //Yard SW if (key_down[7] == 1) { key_down[7] = 0; if (train[0].yard_state == YARD_NONE) { cont_panel[0].LED.YARD = 1; if (train[0].NOW.BYTE == 0x38) train[0].yard_state = START_REQ; //登録なし else train[0].yard_state = Y_SW_ON; //走行中 //cont_panel[0].line = 7; } else if (train[0].yard_state == YARD_REQ || train[0].yard_state == Y_SW_ON) { cont_panel[0].LED.YARD = 0; train[0].yard_state = YARD_NONE; } } if (key_down[12] == 1) { key_down[12] = 0; if (train[cont_sel].yard_state == YARD_NONE) { cont_panel[cont_sel].LED.YARD = 1; if (train[cont_sel].NOW.BYTE == 0x38) train[cont_sel].yard_state = START_REQ; //登録なし else train[cont_sel].yard_state = Y_SW_ON; //走行中 //cont_panel[cont_sel].line = 7; } else if (train[cont_sel].yard_state == YARD_REQ || train[cont_sel].yard_state == Y_SW_ON) { cont_panel[cont_sel].LED.YARD = 0; train[cont_sel].yard_state = YARD_NONE; } } switch (disp_mode) { case 0://操作MODE //Right Button if (key_down[0] == 1) { key_down[0] = 0; if (++curser_pos >= CUR_MAX) curser_pos = 0; //EEPROM TEST //PIC_dat(0, 0, test1, 0xA0); // for (n = 0; n < 32; n++) { // eep_page_data[n + 2] = n; // } // EEP_Write(0, 1, 0xA0); // // for (n = 0; n < 32; n++) { // eep_page_data[n + 2] = n + 32; // } // EEP_Write(32, 1, 0xA0); //LoadPlayList(); test2 = 0; } //Left Button if (key_down[2] == 1) { key_down[2] = 0; if (--curser_pos < 0) curser_pos = CUR_MAX - 1; test1 = EEP_Read(test2++, 64, 0xA0); } //UP Button if (key_down[1] == 1) { key_down[1] = 0; switch (curser_pos) { case 0: if (++cont_panel[0].point_num > POINT_COUNT - 1) cont_panel[0].point_num = -1; break; case 1: if (++cont_panel[0].yard > YARD_COUNT - 1) cont_panel[0].yard = YARD_COUNT - 1; cont_panel[0].line = yard_line_num(cont_panel[0].yard, 0, cont_panel[0].line, 0); break; case 2: //if (++cont_panel[0].line > 5) cont_panel[0].line = 5; cont_panel[0].line = yard_line_num(cont_panel[0].yard, 1, cont_panel[0].line, 0); break; case 3: if (++cont_panel[cont_sel].point_num > POINT_COUNT - 1) cont_panel[cont_sel].point_num = -1; break; case 4: if (++cont_panel[cont_sel].yard > YARD_COUNT - 1) cont_panel[cont_sel].yard = YARD_COUNT - 1; cont_panel[cont_sel].line = yard_line_num(cont_panel[cont_sel].yard, 0, cont_panel[cont_sel].line, cont_sel); break; case 5: //if (++cont_panel[cont_sel].line > 5) cont_panel[cont_sel].line = 5; cont_panel[cont_sel].line = yard_line_num(cont_panel[cont_sel].yard, 1, cont_panel[cont_sel].line, cont_sel); break; } } //Down Button if (key_down[4] == 1) { key_down[4] = 0; switch (curser_pos) { case 0: if (--cont_panel[0].point_num < -1) cont_panel[0].point_num = -1; break; case 1: if (--cont_panel[0].yard < 0) cont_panel[0].yard = 0; cont_panel[0].line = yard_line_num(cont_panel[0].yard, 0, cont_panel[0].line, 0); break; case 2: //if (--cont_panel[0].line < 0) cont_panel[0].line = 0; cont_panel[0].line = yard_line_num(cont_panel[0].yard, -1, cont_panel[0].line, 0); break; case 3: if (--cont_panel[cont_sel].point_num < -1) cont_panel[cont_sel].point_num = -1; break; case 4: if (--cont_panel[cont_sel].yard < 0) cont_panel[cont_sel].yard = 0; cont_panel[cont_sel].line = yard_line_num(cont_panel[cont_sel].yard, 0, cont_panel[cont_sel].line, cont_sel); break; case 5: //if (--cont_panel[cont_sel].line < 0) cont_panel[cont_sel].line = 0; cont_panel[cont_sel].line = yard_line_num(cont_panel[cont_sel].yard, -1, cont_panel[cont_sel].line, cont_sel); break; } } break; case 1: //----------disp mode1---------- //Right Button if (key_down[0] == 1) { key_down[0] = 0; if (disp_page < PAGE_MAX) disp_page++; } //Left Button if (key_down[2] == 1) { key_down[2] = 0; if (--disp_page < 0)disp_page = 0; } switch (disp_page) { case 0://----SPEED MODE------ //Down Button if (key_down[4] == 1) { key_down[4] = 0; if (++speed_mode > 2)speed_mode = 2; //speed_mode auto/manu } //Up Button if (key_down[1] == 1) { key_down[1] = 0; if (--speed_mode < 0)speed_mode = 0; //speed_mode auto/manu } break; case 1://-----Play/Rec ModeSelect----- if (rec_status == 0) {//通常 //Up Button PLAY MODE if (key_down[1] == 1) { key_down[1] = 0; disp_mode = 10; //DISP PLAY MODE } //Down Button REC MODE if (key_down[4] == 1) { key_down[4] = 0; disp_mode = 11; //DISP REC MODE } } else if (rec_status == 2) { //Playing disp_mode = 10; //PlayMode } else if (rec_status == 1) { //Recording disp_mode = 12; //NoeRecording } break; case 2://ERACE MODE Select if (rec_status == 0) {//通常 //Up Button ERACE MODE if (key_down[1] == 1) { key_down[1] = 0; disp_mode = 14; //DISP ERACE MODE } //Down Button POINT TEST if (key_down[4] == 1) { key_down[4] = 0; disp_mode = 15; //POINT TEST } } break; case 4://Debug Monitor if (rec_status == 0) {//通常 //Up Button ERACE MODE if (key_down[1] == 1) { key_down[1] = 0; disp_pos++; } //Down Button AUX if (key_down[4] == 1) { key_down[4] = 0; if (disp_pos > 0)disp_pos--; } } break; } break; case 10://PLAY MODE //階層2 //R Button //Cancel Repeat if (key_down[0] == 1) { key_down[0] = 0; if (rec_status == 0) { //CANCEL disp_mode = 1; //表示戻し } else if (rec_status == 2) { //REPEAT if (repeat)repeat = 0; else repeat = 1; } } //L Button PLAY START STOP if (key_down[2] == 1) { key_down[2] = 0; if (rec_status == 0) { //START LoadPlayList(prg_num); rec_status = 2; } else if (rec_status == 2) { //STOP rec_status = 0; } } //Up Button PRG No. + if (key_down[1] == 1) { key_down[1] = 0; prg_num = NextList(prg_num, 1); } //Down Button Prg No. - if (key_down[4] == 1) { key_down[4] = 0; prg_num = NextList(prg_num, -1); } break; case 11://REC MODE //階層2 if (rec_status == 0) { //R Button if (key_down[0] == 1) { key_down[0] = 0; //CANCEL disp_mode = 1; //表示戻し } //L Button REC START if (key_down[2] == 1) { key_down[2] = 0; rec_status = 1; ClrRecList(); //disp_mode = 12; //DISP NOW RECORDING } } else if (rec_status == 1) { disp_mode = 12; //DISP NOW RECORDING } break; case 12://NOW RECORDING //L Button REC STOP if (key_down[2] == 1) { key_down[2] = 0; if (rec_status == 1) rec_status = 0; disp_mode = 13; //REC END SAVE? } break; case 13://REC END SAVE? //階層3 //R Button if (key_down[0] == 1) { key_down[0] = 0; //CANCEL disp_mode = 1; //表示戻し } //L Button if (key_down[2] == 1) { key_down[2] = 0; //Save Play List SavePlayList(prg_num); disp_mode = 1; //表示戻し } //Up Button PRG No. + if (key_down[1] == 1) { key_down[1] = 0; prg_num++; } //Down Button Prg No. - if (key_down[4] == 1) { key_down[4] = 0; if (prg_num > 0) prg_num--; } break; case 14://ERACE MODE //階層2 //R Button if (key_down[0] == 1) { key_down[0] = 0; //CANCEL disp_mode = 1; //表示戻し } //L Button if (key_down[2] == 1) { key_down[2] = 0; //Delete Play List DelPlayList(prg_num); disp_mode = 1; //表示戻し } //Up Button PRG No. + if (key_down[1] == 1) { key_down[1] = 0; prg_num = NextList(prg_num, 1); } //Down Button Prg No. - if (key_down[4] == 1) { key_down[4] = 0; prg_num = NextList(prg_num, -1); } break; case 15://POINT TEST //階層2 //R Button if (key_down[0] == 1) { key_down[0] = 0; //point 戻し train[0].point = 0x80 + point_test; //disp_mode = 1; //表示戻し } //L Button if (key_down[2] == 1) { key_down[2] = 0; //point 切り替え train[0].point = 0xC0 + point_test; //disp_mode = 1; //表示戻し } //Up Button point No. + if (key_down[1] == 1) { key_down[1] = 0; point_test++; } //Down Button point No. - if (key_down[4] == 1) { key_down[4] = 0; if (point_test > 0)point_test--; } break; } } void ini_train(char i) { char n, st, ed; if (i == -1) { //全ての列車初期化 st = 0; ed = TR_COUNT; } else { //指定の列車を初期化 st = i; ed = i + 1; } for (n = st; n < ed; n++) { train[n].BEFORE.BYTE = 0x38; train[n].NOW.BYTE = 0x38; train[n].NEXT.BYTE = 0x38; train[n].ANEXT.BYTE = 0x38; train[n].STATUS.BYTE = 0; train[n].speed = 0; train[n].henka = 0; } } //void train_set(unsigned char n, unsigned char rosen, unsigned char sec, unsigned char dir, unsigned char sou) void train_set(unsigned char n, union POSITION p1) { // train[n].NOW.BIT.ROSEN = rosen; // train[n].NOW.BIT.KUKAN = sec; // train[n].NOW.BIT.DIR = dir; // train[n].NOW.BIT.SOU = sou; train[n].NOW.BIT.ROSEN = p1.BIT.ROSEN; train[n].NOW.BIT.KUKAN = p1.BIT.KUKAN; train[n].NOW.BIT.DIR = p1.BIT.DIR; train[n].NOW.BIT.SOU = p1.BIT.SOU; train[n].BEFORE.BYTE = train[n].NOW.BYTE; train[n].NEXT.BYTE = train[n].NOW.BYTE; train[n].ANEXT.BYTE = train[n].NOW.BYTE; if (p1.BIT.DIR) { //逆転 train[n].BEFORE.BIT.KUKAN++; train[n].NEXT.BIT.KUKAN--; train[n].ANEXT.BIT.KUKAN = train[n].NOW.BIT.KUKAN - 2; } else { //正転 train[n].BEFORE.BIT.KUKAN--; train[n].NEXT.BIT.KUKAN++; train[n].ANEXT.BIT.KUKAN += 2; } train[n].STATUS.BIT.CHG = 1; train[n].STATUS.BIT.SAFE = 1; } //位置情報設定用 union POSITION position_set(unsigned char line, unsigned char section, unsigned char dir, unsigned char phase) { union POSITION ret; ret.BIT.ROSEN = line; ret.BIT.KUKAN = section; ret.BIT.DIR = dir; ret.BIT.SOU = phase; return ret; } //ポイント位置設定 void point_set(unsigned char n, unsigned char num, union POSITION p1, union POSITION p2) { point[n].approach = p1; point[n].exit = p2; point[n].num = num; } void yard_set(unsigned char n, union POSITION p1, unsigned char point, unsigned char line, unsigned char exist, unsigned char type) { // 進入位置 = 位置.copy // 停止位置 = 位置.copy // 出口位置 = 位置.copy // // 停止位置.逆転() // 停止位置.次区間() '停止位置は発車位置の逆の次区間 // // 停止位置1 = 停止位置.copy // 出口位置1 = 出口位置.copy // // 進入位置2 = 停止位置.copy // 進入位置2.逆転() // 発車位置2 = 停止位置.copy // // 停止位置2 = 発車位置.copy // 出口位置2 = 発車位置2.copy // 出口位置2.次区間() yard[n].start = p1; //発車位置 = 位置.copy '位置は発車位置 //yard[n].start.BIT.DIR = ~p1.BIT.DIR; yard[n].approach = p1; yard[n].approach.BIT.DIR = ~p1.BIT.DIR; //進入位置.逆転() '進入位置は発車位置の逆転 yard[n].exit = next_position(yard[n].start); //出口位置.次区間() '出口位置は発車位置の次区間 //yard[n].start_b = p1; yard[n].start_b = next_position(yard[n].approach); //発車位置Bは進入位置の次区間 //yard[n].approach_b = next_position(yard[n].approach); yard[n].approach_b = yard[n].start_b; //進入位置Bは発車位置Bの逆転 yard[n].approach_b.BIT.DIR = p1.BIT.DIR; yard[n].exit_b = next_position(yard[n].start_b); //出口位置.次区間() '出口位置は発車位置の次区間 yard[n].point_num = point; yard[n].line = line; yard[n].exist = exist; yard[n].type = type; if (type == 0) { yard[n].approach_b.BYTE = 0xFF; } } void yard_set_line(char n, char p, char mode) { if (mode) yard[n].exist |= EnableBit[p]; else yard[n].exist &= ~EnableBit[p]; } char yard_line_num(char n, char s, char p, char t) { //n:yard um s:+- p:pos t:train_num char pos = p + s; pos &= 0b111; unsigned char bit_p = EnableBit[pos]; //avl空き線 unsigned char avl = yard[n].line ^ yard[n].exist; unsigned char line; char mode = 0; if (train[t].NOW.BYTE != 0x38) mode = 1; if (mode) line = avl; else line = yard[n].exist; if (!line)return 9; //該当なし while (!(line & bit_p)) { if (s < 0) { bit_p >>= 1; if (bit_p == 0)bit_p = 0x80; } else { bit_p <<= 1; if (bit_p == 0)bit_p = 1; } } char c = 0; while (!(bit_p == 1)) { bit_p >>= 1; c++; } return c; } //出口位置かどうか bool point_exit_position(unsigned char n, union POSITION p) { p.BIT.SOU = 0; //相マスク p.BIT.DIR = ~p.BIT.DIR; if (p.BIT.DIR == 0) { if (point[n].approach.BYTE == p.BYTE) return true; else return false; } else { if (point[n].exit.BYTE == p.BYTE) return true; else return false; } } int speed_up_down(char n, int speed, char k) { //列車(n).speed += (列車(n).設定speed - 列車(n).speed) * 加速 char down; int def = speed - train[n].speed; int d; char brk = 0; if (k > 0) { down = k; if (def > 0)down = 30; d = def * down / 100; if (def < 0 && d>-1) d = def; train[n].speed += d; } else { //Mnual Brake brk = Brake; if (def < 0) { train[n].speed -= brk; if (train[n].speed < 0) train[n].speed = 0; } else { down = 30; d = def * down / 100; train[n].speed += d; } } return train[n].power.INT; return train[n].power.INT; } void section_chg(unsigned char n) { train[n].BEFORE.BYTE = train[n].NOW.BYTE; train[n].NOW.BYTE = train[n].NEXT.BYTE; train[n].NEXT.BYTE = train[n].ANEXT.BYTE; if (train[n].NOW.BIT.DIR) { train[n].ANEXT.BIT.KUKAN--; //逆転 } else { train[n].ANEXT.BIT.KUKAN++; //正転 } // train[n].STATUS.BIT.CHG = 1; } void reverse(unsigned char n) { unsigned char before; unsigned char dir = train[n].NOW.BIT.DIR; if (dir) { dir = 0; } else { dir = 1; } train[n].NOW.BIT.DIR = dir; train[n].BEFORE.BIT.DIR = dir; before = train[n].BEFORE.BYTE; train[n].BEFORE.BYTE = train[n].NOW.BYTE; train[n].NOW.BYTE = before; train[n].NEXT.BYTE = before; train[n].ANEXT.BYTE = before; if (dir) { //逆転 train[n].NEXT.BIT.KUKAN--; train[n].ANEXT.BIT.KUKAN = train[n].NOW.BIT.KUKAN - 2; } else { //正転 train[n].NEXT.BIT.KUKAN++; train[n].ANEXT.BIT.KUKAN += 2; } train[n].STATUS.BIT.REV = 0; train[n].STATUS.BIT.SAFE = 1; train[n].STATUS.BIT.CHG = 1; cont_panel[n].LED.REVERS = 0; } int stoppage_time(char n, int t) { //停車時間 static int timer[TR_COUNT + 1]; // if (timer[n]-- == 0) timer[n] = t; //停車時間 return timer[n]; } unsigned char safe_check(unsigned char m) { //安全確認 unsigned char n; unsigned char ret = GO; for (n = 0; n < TR_COUNT; n++) { if (n != m) { //次位置が他の列車の現、前、次位置と同じなら停止 if ((train[m].NEXT.BYTE & 0x3f) == (train[n].NOW.BYTE & 0x3f)) { ret = STOP; break; } if ((train[m].NEXT.BYTE & 0x3f) == (train[n].BEFORE.BYTE & 0x3f)) { ret = STOP; break; } if ((train[m].NEXT.BYTE & 0x3f) == (train[n].NEXT.BYTE & 0x3f)) { ret = STOP; break; } //次々位置が他の列車の現、前、次位置と同じなら減速 if ((train[m].ANEXT.BYTE & 0x3f) == (train[n].NOW.BYTE & 0x3f)) ret = SLOW; if ((train[m].ANEXT.BYTE & 0x3f) == (train[n].BEFORE.BYTE & 0x3f)) ret = SLOW; if ((train[m].ANEXT.BYTE & 0x3f) == (train[n].NEXT.BYTE & 0x3f)) ret = SLOW; } } //停止の時、相手と方向が逆の時は優先順位が低いほうが逆転 if (ret == 1) { if ((m > n) && (train[m].NOW.BIT.DIR != train[n].NOW.BIT.DIR)) { ret = STOP_REV; } } //STOP位置 for (n = 0; n < STOP_POS_COUNT; n++) { if (stop_pos[n].point_num < 0) {// If p.ポイント番号 < 0 Then //ポイントのない停止位置 if ((train[m].NOW.BYTE & 0xBF) == stop_pos[n].pos.BYTE) {// If 列車(n).現位置 = p.位置 Then //現位置なら停止 return STOP; // 停止 = True } else if ((train[m].NEXT.BYTE & 0xBF) == stop_pos[n].pos.BYTE) {// ElseIf 列車(n).次位置 = p.位置 Then //'次位置なら減速 return SLOW_POINT; // 減速 = True } } } //通過形ヤードで空き線なしは通過不可 for (n = 0; n < YARD_COUNT; n++) {//For Each p As YardClass In yard if (yard[n].type == 1) {//If p.type = 1 Then //通過形ヤードの時 if (yard[n].exist == yard[n].line) {//If p.空線.Length = 0 Then //空線なしの時 //If (列車(n).現位置 = p.進入位置) Or (列車(n).現位置 = p.進入位置2) Then if ((train[m].NOW.BYTE & 0xbf) == yard[n].approach.BYTE || (train[m].NOW.BYTE & 0xbf) == yard[n].approach_b.BYTE) { return STOP_REV; //逆転 } } } } //YARD進入待ち if (train[m].yard_state == YARD_APR_WAIT) return STOP; //Yard,Point進入 減速 if (train[m].yard_state == YARD_COMP || train[m].yard_state == POINT_COMP) { return SLOW_YARD; //減速 } if (train[m].point_state == SWITCHING) return SLOW_POINT; //減速 return ret; } POINT_SAFE yard_safe_check(unsigned char n, union POSITION pos) { unsigned char c; for (c = 0; c < TR_COUNT; c++) { if (c != n) { //位置が他の列車の現、前、次位置と同じなら非安全 if (pos.BIT.ROSEN == train[c].NOW.BIT.ROSEN && pos.BIT.KUKAN == train[c].NOW.BIT.KUKAN) return WAIT_PASS; if (pos.BIT.ROSEN == train[c].BEFORE.BIT.ROSEN && pos.BIT.KUKAN == train[c].BEFORE.BIT.KUKAN) return WAIT_PASS; if (pos.BIT.ROSEN == train[c].NEXT.BIT.ROSEN && pos.BIT.KUKAN == train[c].NEXT.BIT.KUKAN) return WAIT_PASS; if (pos.BIT.ROSEN == train[c].ANEXT.BIT.ROSEN && pos.BIT.KUKAN == train[c].ANEXT.BIT.KUKAN) return WAIT_PASS; } } return SAFE; } //ポイント位置かどうか union POSITION point_pos(unsigned char p, union POSITION pos) { //出口位置を返す union POSITION ret; char sou = pos.BIT.SOU; pos.BIT.SOU = 0; if (pos.BYTE == point[p].approach.BYTE) { ret = point[p].exit; ret.BIT.DIR = ~ret.BIT.DIR; ret.BIT.SOU = sou; return ret; } if (pos.BYTE == point[p].exit.BYTE) { ret = point[p].approach; ret.BIT.DIR = ~ret.BIT.DIR; ret.BIT.SOU = sou; return ret; } ret.BYTE = 0xff; //ポイント位置でない return ret; } //次の区間 union POSITION next_position(union POSITION p) { union POSITION ret = p; unsigned char section = p.BIT.KUKAN; if (p.BIT.DIR == 0) {//If 方向 = 0 Then section = (section + 1)& 0b111; // 区間 = (区間 + 1) And &H7 } else { section = (section - 1)& 0b111; // 区間 = (区間 - 1) And &H7 } ret.BIT.KUKAN = section; return ret; } //ポイント処理 void point_process() { unsigned char n, p; union POSITION next_pos; for (n = 0; n < TR_COUNT; n++) { switch (train[n].point_state) {//point処理状況 case SWITCH_REQ://Case p処理.切替要求, p処理.通過待ち case WAITING: //Point位置確認 for (p = 0; p < POINT_COUNT; p++) { next_pos = point_pos(p, train[n].NOW); //Dim 次位置 As 位置情報 = ポイント(p).進入位置(列車(n).現位置) //ポイント番号確認 //Select Case Remcon(n).point_num //Case -1, ポイント(p).番号 '-1は次のポイント //If Not 次位置 Is Nothing Then if (next_pos.BYTE != 0xff) { //debug1.BYTE.L = point_safe_check(n, next_pos); switch (point_safe_check(n, next_pos)) {//Select Case ポイント安全確認(n, 次位置) case SAFE://Case "安全" //ポイント切り替え train[n].point = 0xC0 + point[p].num; //列車(n).ポイント = &HC0 + ポイント(p).番号 train[n].NEXT = next_pos; //列車(n).次位置 = 次位置.copy //次位置.次区間() train[n].ANEXT = next_position(next_pos); //列車(n).次々位置 = 次位置.copy train[n].STATUS.BIT.CHG = 1; //列車(n).区間変化 = True // train[n].point_state = SWITCHING; //列車(n).point処理状況 = p処理.切替中 train[n].point_num = p; //列車(n).ポイント番号 = p //Remcon(n).CheckBox2.Enabled = False 'ポイントボタン不可 //Remcon(n).DomainUpDown1.Enabled = False break; case IMPOSSIBLE://Case "不可" train[n].point_state = NONE; cont_panel[n].LED.POINT = 0; break; case WAIT_PASS://Case "通過待ち" train[n].point_state = WAITING; //列車(n).point処理状況 = p処理.通過待ち break; } } } // case WAITING: // break; case SWITCHING://Case p処理.切替中 //出口位置確認 if (point_exit_position(train[n].point_num, train[n].BEFORE)) { //If ポイント(列車(n).ポイント番号).出口位置(列車(n).現位置) Then //ポイント戻し train[n].point = 0x80 + point[train[n].point_num].num; //列車(n).ポイント = &H80 + ポイント(列車(n).ポイント番号).番号 train[n].point_state = NONE; //列車(n).point処理状況 = p処理.なし cont_panel[n].LED.POINT = 0; //Remcon(n).CheckBox2.Enabled = True 'ポイントボタン可 //Remcon(n).DomainUpDown1.Enabled = True 'ポイント選択可 //Remcon(n).CheckBox2.Checked = False 'ポイントボタン戻し // End If } break; } } // Yard処理(n) } bool yard_approach_pos(unsigned char n, union POSITION pos, unsigned char p) { // Dim n = ポイント番号 - 3 // // Dim p = 番号位置変換(pos) // pos.BIT.SOU = 0; if (yard[n].type == 0) {//If type = 0 Then if (pos.BYTE == yard[n].approach.BYTE) { yard[n].y_cont = 0x88 + n * 0x10 + p; //y制御Byte = &H88 + n * &H10 + p yard[n].p_cont = 0xc0 + yard[n].point_num; //p制御Byte = &HC0 + ポイント番号 return true; // Return 位置 = 進入位置 } } else { // If 位置 = 進入位置 Then if (pos.BYTE == yard[n].approach.BYTE) { // 停止位置 = 停止位置1.copy yard[n].y_cont = 0x80 + n * 0x10 + p * 2 + 1; //y制御Byte = &H80 + n * &H10 + &H1 + p * 2 //pos=0で戻し側 pos=1で切り替え側 yard[n].p_cont = 0x80 + p * 0x40 + yard[n].point_num; //p制御Byte = &H80 + p * &H40 + ポイント番号 return true; // Return True } else { if (pos.BYTE == yard[n].approach_b.BYTE) {// ElseIf 位置 = 進入位置2 Then // '逆進入 // 停止位置 = 停止位置2.copy yard[n].y_cont = 0x80 + n * 0x10 + p * 2; //y制御Byte = &H80 + n * &H10 + p * 2 //pos=0で戻し側 pos=1で切り替え側 yard[n].p_cont = 0x80 + p * 0x40 + yard[n].point_num; //p制御Byte = &H80 + p * &H40 + ポイント番号 return true; // Return True } } } return false; } bool yard_stop_pos(unsigned char n, union POSITION pos) { union POSITION next_pos = next_position(yard[n].approach); union POSITION next_pos_b = next_position(yard[n].approach_b); pos.BIT.SOU = 0; if (pos.BYTE == next_pos.BYTE) { return true; } if (yard[n].type == 1) { if (pos.BIT.DIR == 1) { if (pos.BYTE == next_pos.BYTE) { return true; } } else { if (pos.BYTE == next_pos_b.BYTE) { return true; } } } return false; } bool yard_exit_pos(unsigned char n, union POSITION pos) { pos.BIT.SOU = 0; if (yard[n].type == 0) { //type 0 if (pos.BYTE == yard[n].exit.BYTE) { return true; } } else { //type 1 if (pos.BIT.DIR == 0) { if (pos.BYTE == yard[n].exit.BYTE) { return true; } } else { if (pos.BYTE == yard[n].exit_b.BYTE) { return true; } } } return false; } void yard_start_proc(unsigned char n, unsigned char pos, unsigned char d) { // Dim n = ポイント番号 - 3 // // Dim p = 番号位置変換(pos) // // If type = 0 Then // y制御Byte = &H88 + n * &H10 + p // p制御Byte = &HC0 + ポイント番号 // Else // y制御Byte = &H80 + n * &H10 + p * 2 '*4 // p制御Byte = &H80 + p * &H40 + ポイント番号 // // If d = 1 Then // 出口位置 = 出口位置2.copy // Else // 出口位置 = 出口位置1.copy // End If // End If if (yard[n].type == 0) {//If type = 0 Then yard[n].y_cont = 0x88 + n * 0x10 + pos; //y制御Byte = &H88 + n * &H10 + p yard[n].p_cont = 0xc0 + yard[n].point_num; //p制御Byte = &HC0 + ポイント番号 } else { yard[n].y_cont = 0x80 + n * 0x10 + pos * 2; //y制御Byte = &H80 + n * &H10 + p * 2 '*4 //pos=0で戻し側 pos=1で切り替え側 yard[n].p_cont = 0x80 + pos * 0x40 + yard[n].point_num; //p制御Byte = &H80 + p * &H40 + ポイント番号 } yard_set_line(n, pos, 0); //列車登録削除 } void yard_end_proc(unsigned char n) { yard[n].p_cont ^= 0x40; //p制御Byte = p制御Byte Xor &H40 if (yard[n].type == 0) {//If type = 0 Then yard[n].y_cont &= 0xF0; //y制御Byte = y制御Byte And &HF0 } else { // '反対側の線に切り替え // y制御Byte = y制御Byte Xor &H2 yard[n].y_cont ^= 0x2; } } void yard_start_end_proc(unsigned char n) { if (yard[n].type == 0) {//If type = 0 Then yard[n].y_cont &= 0xF0; //y制御Byte = y制御Byte And &HF0 yard[n].p_cont ^= 0x40; //p制御Byte = p制御Byte Xor &H40 } else { if (yard[n].exist == 0) {//If 列車 <> 3 Then !=0b11 //0側空くときは０側へ切り替え （両側空きになるとき） yard[n].y_cont &= 0xF8; //y制御Byte = y制御Byte And &HF8 '*** yard[n].p_cont &= 0xBF; //p制御Byte = p制御Byte And &HBF } //片側のみ空くときは何もしない。 } } void yard_process() { unsigned char n, p; union POSITION next_pos; for (n = 0; n < TR_COUNT; n++) { switch (train[n].yard_state) { case YARD_REQ://Case y処理.Yard要求 case YARD_APR_WAIT://進入待ち p = cont_panel[n].yard; //Dim p = Remcon(n).NumericUpDown1.Value - 1 //If 列車(n).区間変化 Then if (yard_approach_pos(p, train[n].NOW, cont_panel[n].line)) {//If yard(p).進入位置確認(列車(n).現位置, Val(Remcon(n).DomainUpDown2.Text)) Then if (yard_safe_check(n, train[n].NEXT) == SAFE) {//安全確認 //yard切り替え //train[n].yard = 0x88 + p * 0x10 + cont_panel[n].line; //列車(n).yard = yard(p).y制御Byte train[n].yard = yard[p].y_cont; train[n].yard_state = YARD_COMP; //列車(n).yard処理状況 = y処理.Yard切替完了 train[n].yard_num = p; // 列車(n).yard番号 = p // Remcon(n).Yard_Cont = False 'yard cont desable } else { train[n].yard_state = YARD_APR_WAIT; } } break; case YARD_COMP: //Case y処理.Yard切替完了 //ポイント切り替え if (train[n].yard == 0) {//列車(n).yard = 0 Then 'yard 切り替え確認 //train[n].point = 0xc0 + yard[train[n].yard_num].point_num; //列車(n).ポイント = yard(列車(n).yard番号).p制御Byte train[n].point = yard[train[n].yard_num].p_cont; //列車(n).ポイント = yard(列車(n).yard番号).p制御Byte train[n].yard_state = POINT_COMP; //列車(n).yard処理状況 = y処理.Yardポイント切替完了 } break; // Case y処理.Yardポイント切替完了 case POINT_COMP: if (yard_stop_pos(train[n].yard_num, train[n].NOW)) {//If 列車(n).現位置 = yard(列車(n).yard番号).停止位置 Then //yard停止 train[n].yard_state = YARD_STOP; //列車(n).yard処理状況 = y処理.Yard停止 } break; case YARD_STOP_COMP:// Case y処理.Yard完全停止 // 'Yardポイント戻し yard_end_proc(train[n].yard_num); //yard(列車(n).yard番号).Yard終了処理() //train[n].point = 0x80 + yard[train[n].yard_num].point_num; //列車(n).ポイント = yard(列車(n).yard番号).p制御Byte train[n].point = yard[train[n].yard_num].p_cont; //列車(n).ポイント = yard(列車(n).yard番号).p制御Byte train[n].yard_state = POINT_RET; //列車(n).yard処理状況 = y処理.Yardポイント戻し完了 // 'Timer2.Interval = 1000 // 'Timer2.Enabled = True 'ポイント切り替え待ち // TM(n) = 10 break; // Case y処理.Yardポイント戻し完了 case POINT_RET_COMP: // If TM(n) = 0 Then // 'TM(n) = False // 'yard戻し //train[n].yard = train[n].yard = 0x88 + train[n].yard_num * 0x10; train[n].yard = yard[train[n].yard_num].y_cont; // 列車(n).yard = yard(列車(n).yard番号).y制御Byte // 列車(n).yard処理状況 = y処理.Yard終了 train[n].yard_state = YARD_END; // End If break; case YARD_END:// Case y処理.Yard終了 if (train[n].yard == 0) {//If 列車(n).yard = 0 Then 'yard 切り替え確認 yard_set_line(train[n].yard_num, cont_panel[n].line, 1); //yard(列車(n).yard番号).列車Set(True) = Val(Remcon(n).DomainUpDown2.Text) ini_train(n); //列車(n) = New train() '列車Disable train[n].STATUS.BIT.CHG = 1; cont_panel[n].LED.YARD = 0; // Remcon(n).Yard_Cont = True 'yard cont enable // RaiseEvent yard_chg() train[n].yard_state = YARD_NONE; } break; // // Case y処理.Yard発車要求 case START_REQ: p = cont_panel[n].yard; // Dim p = Remcon(n).NumericUpDown1.Value - 1 //yard切り替え if (yard[p].type == 1) {// If yard(p).type = 1 Then if (cont_panel[n].LED.REVERS == 1) {//If Remcon(n).CheckBox4.Checked Then '発車方向 //列車(n) = New train(yard(p).発車位置2) train_set(n, yard[p].start_b); } else { //列車(n) = New train(yard(p).発車位置) train_set(n, yard[p].start); } } else { //列車(n) = New train(yard(p).発車位置) train_set(n, yard[p].start); } // If Yard安全確認(n) Then switch (point_safe_check(n, train[n].NOW)) { case SAFE: if (point_safe_check(n, train[n].BEFORE) == SAFE) {//前位置も確認 // If Remcon(n).CheckBox4.Checked Then // '逆転戻し // Remcon(n).CheckBox4.Checked = False // End If // cont_panel[n].LED.REVERS = 0; yard_start_proc(p, cont_panel[n].line, train[n].NOW.BIT.DIR); //yard(p).Yard発車処理(Val(Remcon(n).DomainUpDown2.Text), 列車(n).現位置.方向) //yard_line_num(p, 0, cont_panel[n].line, n); train[n].yard = yard[p].y_cont; //列車(n).yard = yard(p).y制御Byte train[n].yard_state = START_REQ_ACK; //列車(n).yard処理状況 = y処理.Yard発車要求受付 train[n].yard_num = p; //列車(n).yard番号 = p // Remcon(n).Yard_Cont = False 'yard cont desable } else { //WAIT_PASS ini_train(n); } break; case IMPOSSIBLE: case WAIT_PASS: // Else ini_train(n); //列車(n) = New train() '列車Disable //列車(n).yard処理状況 = y処理.Yard発車要求 // End If break; } break; // Case y処理.Yard発車要求受付 case START_REQ_ACK: //ポイント切り替え if (train[n].yard == 0) {//If 列車(n).yard = 0 Then 'yard 切り替え確認 train[n].point = yard[train[n].yard_num].p_cont; //列車(n).ポイント = yard(列車(n).yard番号).p制御Byte train[n].yard_state = READY_START; //列車(n).yard処理状況 = y処理.Yard発車準備完了 } break; case READY_START:// Case y処理.Yard発車準備完了 // If 列車(n).現位置 = yard(列車(n).yard番号).出口位置 Then //if (train[n].NOW.BYTE == yard[train[n].yard_num].exit.BYTE) { if (yard_exit_pos(train[n].yard_num, train[n].NOW)) { // If 列車(n).ポイント = 0 Then if (train[n].point == 0) { //Yardポイント戻し yard_start_end_proc(train[n].yard_num); //yard(列車(n).yard番号).Yard発車終了処理() train[n].point = yard[train[n].yard_num].p_cont; //列車(n).ポイント = yard(列車(n).yard番号).p制御Byte train[n].yard_state = EXIT_POS; //列車(n).yard処理状況 = y処理.Yard発車出口 // 'Timer2.Interval = 1000 // 'Timer2.Enabled = True 'ポイント切り替え待ち // TM(n) = 10 } } break; case EXIT_POS:// Case y処理.Yard発車出口 if (stoppage_time(n, 10) == 0) {//If TM(n) = 0 Then // 'TM(n) = False //yard戻し train[n].yard = yard[train[n].yard_num].y_cont; //列車(n).yard = yard(列車(n).yard番号).y制御Byte // yard(列車(n).yard番号).列車Set(False) = Val(Remcon(n).DomainUpDown2.Text) train[n].yard_state = YARD_NONE; //列車(n).yard処理状況 = y処理.なし // Remcon(n).Yard_Cont = True // RaiseEvent yard_chg() cont_panel[n].LED.YARD = 0; // // End If } break; } } } //Sub 相変更() void change_phase(unsigned char n) { if (train[n].NOW.BIT.SOU == 0) {// If 現位置.相 = 0 Then train[n].NOW.BIT.SOU = 1; // 現位置.相 = 1 train[n].BEFORE.BIT.SOU = 1; // 前位置.相 = 1 train[n].NEXT.BIT.SOU = 1; // 次位置.相 = 1 train[n].ANEXT.BIT.SOU = 1; // 次々位置.相 = 1 } else {//Else train[n].NOW.BIT.SOU = 0; // 現位置.相 = 0 train[n].BEFORE.BIT.SOU = 0; // 前位置.相 = 0 train[n].NEXT.BIT.SOU = 0; // 次位置.相 = 0 train[n].ANEXT.BIT.SOU = 0; // 次々位置.相 = 0 } // 相変更FLAG = True train[n].STATUS.BIT.CHG = 1; // 区間変化 = True // // End Sub } // Function ポイント安全確認(ByVal n As Integer, ByVal 位置 As 位置情報) As String POINT_SAFE point_safe_check(unsigned char n, union POSITION pos) { unsigned char opponent = 0; // Dim 相手 As Integer unsigned char opponent_train_count = 0; // Dim 相手路線列車数 As Integer unsigned char c; unsigned char unsafe = 0; // Dim 停止 As Boolean for (c = 0; c < TR_COUNT; c++) { if (c != n) { //位置が他の列車の現、前、次位置と同じなら非安全 if (pos.BIT.ROSEN == train[c].NOW.BIT.ROSEN && pos.BIT.KUKAN == train[c].NOW.BIT.KUKAN) unsafe = 1; if (pos.BIT.ROSEN == train[c].BEFORE.BIT.ROSEN && pos.BIT.KUKAN == train[c].BEFORE.BIT.KUKAN) unsafe = 1; if (pos.BIT.ROSEN == train[c].NEXT.BIT.ROSEN && pos.BIT.KUKAN == train[c].NEXT.BIT.KUKAN) unsafe = 1; if (pos.BIT.ROSEN == train[c].ANEXT.BIT.ROSEN && pos.BIT.KUKAN == train[c].ANEXT.BIT.KUKAN) unsafe = 1; //相手路線の列車数確認 if (pos.BIT.ROSEN == train[c].NOW.BIT.ROSEN) { opponent_train_count++; //相手路線列車数 += 1 opponent = c; //相手 = m } } } debug1.BYTE.H = opponent_train_count; debug1.BYTE.L = opponent; // //路線に列車が2台いるときはポイント切り替え不可 if (opponent_train_count >= 2) return IMPOSSIBLE; // If 相手路線列車数 >= 2 Then Return "不可" debug1.BYTE.L = 2; // if (unsafe == 1) return WAIT_PASS; // If 停止 Then Return "通過待ち" debug1.BYTE.L = 3; // //列車が1台いるときは相手の相を確認 if (opponent_train_count == 1) {//If 相手路線列車数 = 1 Then //相が同じなら相手の相を変更 if (train[opponent].NOW.BIT.SOU == train[n].NOW.BIT.SOU) {//If 列車(相手).現位置.相 = 列車(n).現位置.相 Then if (opponent < n) { if (train[opponent].NOW.BIT.DIR != train[n].NOW.BIT.DIR) {//相手の優先順位高く方向が違う時はポイント不可 return IMPOSSIBLE; } } change_phase(opponent); //列車(相手).相変更() } // End If } debug1.BYTE.L = 5; return SAFE; //Return "安全" } void stop_pos_process() { char n, m; for (n = 0; n < TR_COUNT; n++) {//For n = 0 To 列車数 - 1 if (train[n].point_state == NONE) {//If 列車(n).point処理状況 = p処理.なし Then for (m = 0; m < STOP_POS_COUNT; m++) {//For Each p As 停止位置class In 車止位置 if ((train[n].NOW.BYTE & 0xbf) == stop_pos[m].pos.BYTE) {//If 列車(n).現位置 = p.位置 Then if (stop_pos[m].point_num >= 0) {//If p.ポイント番号 >= 0 Then //ポイント切り替えON cont_panel[n].LED.POINT = 1; //Remcon(n).CheckBox2.Checked = True train[n].point_state = SWITCH_REQ; //列車(n).point処理状況 = p処理.切替要求 cont_panel[n].point_num = stop_pos[m].point_num; //Remcon(n).DomainUpDown2.Text = p.ポイント番号 } } } } } } void stop_pos_set(char n, union POSITION p, char point) { stop_pos[n].pos = p; stop_pos[n].point_num = point; } void rec_play() { static char rise_edge; //区間変化 if (train[0].STATUS.BIT.CHG_RCV == 1) { if (!rise_edge) { rise_edge = 1; } } else { rise_edge = 0; } switch (rec_status) { case 0: step = 0; step_stop = 0; break; case 1: //RecMode if (rise_edge == 1) {//区間変化 rise_edge = 2; if (step < 127) step++; rec_list[step].pos.BYTE = train[0].NOW.BYTE; rec_list[step].speed = train[0].mascon; //Yard SW ON? if (train[0].yard_state == YARD_REQ) { rec_list[step].yard.BIT.YARD = cont_panel[0].yard; rec_list[step].yard.BIT.LINE = cont_panel[0].line; rec_list[step].yard.BIT.ENABLE = 1; //EnaleBit } //POINT SW ON? if (train[0].point_state == SWITCH_REQ) { rec_list[step].point.BIT.POINT_NUM = cont_panel[0].point_num; rec_list[step].point.BIT.ENABLE = 1; //EnaleBit } //Revers if (train[0].STATUS.BIT.REV == 1) { rec_list[step].point.BIT.REVERS = 1; } rec_list[0].pos.BYTE = step; } //停止中 Yard_Command if (train[0].yard_state == START_REQ) { if (step < 127) step++; rec_list[step].yard.BIT.YARD = cont_panel[0].yard; rec_list[step].yard.BIT.LINE = cont_panel[0].line; rec_list[step].yard.BIT.ENABLE = 1; rec_list[step].speed = train[0].mascon; rec_list[0].pos.BYTE = step; } //Yard_Stop if (train[0].yard_state == YARD_END) { if (step < 127) step++; rec_list[step].speed = 0xff; rec_list[0].pos.BYTE = step; } break; case 2: //playmode if (step > rec_list[0].pos.BYTE - 1) { if (repeat) { if (cont_panel[0].LED.YARD == 0) {//Yard Comp count_dwn = stoppage_time(TR_COUNT, 20); if (count_dwn == 0) { step = 0; //PLAY START step_stop = 0; } } } else rec_status = 0; //Play END break; } if (step == step_stop) { step++; cont_panel[0].yard = rec_list[step].yard.BIT.YARD; cont_panel[0].line = rec_list[step].yard.BIT.LINE; train[0].mascon = rec_list[step].speed; if (train[0].yard_state == YARD_NONE) { cont_panel[0].LED.YARD = 1; if (train[0].NOW.BYTE == 0x38) train[0].yard_state = START_REQ; //登録なし else train[0].yard_state = Y_SW_ON; //走行中 step++; } } else { if (rise_edge == 1) {//区間変化 rise_edge = 2; if (rec_list[step].pos.BYTE == train[0].NOW.BYTE) { train[0].mascon = rec_list[step].speed; if (rec_list[step].yard.BIT.ENABLE) {//YardEnable if (train[0].yard_state == YARD_NONE) { cont_panel[0].LED.YARD = 1; train[0].yard_state = YARD_REQ; //走行中 cont_panel[0].yard = rec_list[step].yard.BIT.YARD; cont_panel[0].line = rec_list[step].yard.BIT.LINE; } } //Point if (rec_list[step].point.BIT.ENABLE) { if (train[0].point_state == NONE) { cont_panel[0].LED.POINT = 1; train[0].point_state = SWITCH_REQ; cont_panel[0].point_num = rec_list[step].point.BIT.POINT_NUM; } } //Revers if (rec_list[step].point.BIT.REVERS) { if (train[0].point_state == NONE) { cont_panel[0].LED.REVERS = 1; train[0].STATUS.BIT.REV = 1; } } if (step < 127) step++; } } else { //---stop timer---- if (rec_list[step].speed == 0xff) { if (cont_panel[0].LED.YARD == 0) {//Yard Comp count_dwn = stoppage_time(TR_COUNT, 20); if (count_dwn == 0) { //step ++; //To Next Step step_stop = step; } } } } } break; } } void ClrRecList() { unsigned char n; for (n = 0; n < 128; n++) { rec_list[n].pos.BYTE = 0; rec_list[n].speed = 0; rec_list[n].yard.BYTE = 0; rec_list[n].point.BYTE = 0; } } void SavePlayList(unsigned char prg) { char bytes = sizeof rec_list[0]; unsigned char n, p; unsigned char list_count = rec_list[0].pos.BYTE; for (n = 0; n < list_count + 1; n++) { p = n * bytes; eep_data[p] = rec_list[n].pos.BYTE; eep_data[p + 1] = rec_list[n].speed; eep_data[p + 2] = rec_list[n].yard.BYTE; eep_data[p + 3] = rec_list[n].point.BYTE; } //SAVE to EEP ROM int start_adr = prg * 256; for (p = 0; p < 8; p++) {//write 8 pages for (n = 0; n < EEP_PAGE; n++) { eep_page_data[n + 2] = eep_data[p * EEP_PAGE + n ]; } EEP_Write(start_adr + p*EEP_PAGE, 1, 0xA0); } } void LoadPlayList(unsigned char prg) { char bytes = sizeof rec_list[0]; unsigned char n, p; unsigned char list_count; int start_adr = prg * 256; list_count = EEP_Read(start_adr, 255, 0xA0); for (n = 0; n < list_count + 1; n++) { p = n * bytes; rec_list[n].pos.BYTE = eep_data[p]; rec_list[n].speed = eep_data[p + 1]; rec_list[n].yard.BYTE = eep_data[p + 2]; rec_list[n].point.BYTE = eep_data[p + 3]; } } unsigned char ExistList(unsigned char prg) { //PRGのステップ数を返す。 int start_adr = prg * 256; unsigned char list_count = EEP_Read(start_adr, 1, 0xA0); return list_count; } unsigned char NextList(unsigned char prg, char d) { //登録済の次のPRGを返す。 unsigned char n = 0; char p = prg; for (n = 0; n < 10; n++) { p += d; if (p > 10) p = 0; if (p < 0) p = 10; if (ExistList(p) > 0) { break; } } return p; } void DelPlayList(unsigned char prg) { //DELETE PRG リストの頭に０ eep_data[0] = 0; int start_adr = prg * 256; EEP_Write(start_adr, 0, 0xA0); //1BYTE WRITE } /******************************************************************************* End of File */ |
system_interrrupt.cを編集 (SourceFiles➡app➡system_config➡default)
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void __ISR(_TIMER_1_VECTOR, ipl7AUTO) IntHandlerDrvTmrInstance0(void) { PLIB_INT_SourceFlagClear(INT_ID_0,INT_SOURCE_TIMER_1); timer_int_func();//追加 } void __ISR(_TIMER_2_VECTOR, ipl6AUTO) IntHandlerDrvTmrInstance1(void) { PLIB_INT_SourceFlagClear(INT_ID_0,INT_SOURCE_TIMER_2); timer_int_func_rs();//追加 } /******************************************************************************* End of File */ |