2021年10月13日 / 最終更新日 : 2021年12月14日 ponko 未分類

PWMの方式変更

これまではモーターのスピード調整に100Hz程度でPWM制御していましたが、少し音も気になるので周波数を40KHｚ程になるよう方式を変えます。ハードの変更はしないでソフト変更のみで行います。

ループ内の2列車の進行方向が同じ時は正・負で分けている期間を両方とも正

か両方とも負にする予定です。

メインループでは、主にPCやリモコンボックスとのRS232C通信を行います。
【 app.c 】
void APP_Tasks(void) {
switch (appData.state) {
/* Application’s initial state. */
case APP_STATE_INIT:
{
//最初の1回のみ
初期化処理
｝
case APP_STATE_SERVICE_TASKS:
{
//この部分が繰り返されます。
RS232C受信
RS232C送信
LCD表示
}

【timer_int.c】
TIMER0で20μｓごとにInterrupt(割り込み)をかけます。
Timer0に４８MHzが入力されているのでプリスケーラを外しTimer Periodを960にすると
1/48E6×960＝20E-6で２０μｓ（40ｋHz）
ごとにInterruptがかかります。
ここでtimer_int.cのvoid timer_int_func() が呼び出されます。

割込の頭のほうで駆動パルスをONにして、Speed値とTimerの値を比較して同じ以上になったときにパルスをOFFします。これでSPEED値が大きいほどパルス幅の大きなデューティー比のパルスが出来ます。

PIC32 Harmony 設定

【TIMER】(PRESCALE:1 TimerPeriod:960に変更)

【ADC】（変更なしです）

【I2C】（変更なしです）

【USART】（変更なしです）

【EXT INT】（変更なしです）

【PIN】(変更なしです)

【PIN Setting】(RB14変更)

コードの編集

コンパイラ疑似命令でMAINボードとSUBボードのコードを切り替える為、

sys_port_static.cとdrv_tmr_static.cの一部をコメントアウトして、system_init.cで切り替えます。

system_init.cのSYS_Initializeを編集します。

void SYS_Initialize(void* data) {
    /* Core Processor Initialization */
    SYS_CLK_Initialize(NULL);
    SYS_DEVCON_Initialize(SYS_DEVCON_INDEX_0, (SYS_MODULE_INIT*) NULL);
    SYS_DEVCON_PerformanceConfig(SYS_CLK_SystemFrequencyGet());
    SYS_PORTS_Initialize();

//-----追加-----
#if ROSEN_NUM == 0
    _TRISB10 = 0;
#else
    PLIB_PORTS_RemapInput(PORTS_ID_0, INPUT_FUNC_INT1, INPUT_PIN_RPB10);
#endif



    /* Initialize Drivers */
    DRV_I2C0_Initialize();


    /* Initialize ADC */
    DRV_ADC_Initialize();

    /*Initialize TMR0 */
    DRV_TMR0_Initialize();

//-----追加-----
#if ROSEN_NUM == 0
    PLIB_INT_VectorPrioritySet(INT_ID_0, INT_VECTOR_T1, INT_PRIORITY_LEVEL7);
    PLIB_INT_VectorSubPrioritySet(INT_ID_0, INT_VECTOR_T1, INT_SUBPRIORITY_LEVEL0);       
#endif

    sysObj.drvUsart0 = DRV_USART_Initialize(DRV_USART_INDEX_0, (SYS_MODULE_INIT *) NULL);

    /* Initialize System Services */

    /*** Interrupt Service Initialization Code ***/
    SYS_INT_Initialize();

    /*Setup the INT_SOURCE_EXTERNAL_1 and Enable it*/
    SYS_INT_VectorPrioritySet(INT_VECTOR_INT1, INT_PRIORITY_LEVEL6);
    SYS_INT_VectorSubprioritySet(INT_VECTOR_INT1, INT_SUBPRIORITY_LEVEL0);

//-----追加-----
#if ROSEN_NUM != 0
    //ExtInterrup
    SYS_INT_ExternalInterruptTriggerSet(INT_EXTERNAL_INT_SOURCE1, INT_EDGE_TRIGGER_FALLING);
    SYS_INT_SourceEnable(INT_SOURCE_EXTERNAL_1);
#endif





    /* Initialize Middleware */

    /* Enable Global Interrupts */
    SYS_INT_Enable();

    /* Initialize the Application */
    APP_Initialize();
}

void SYS_Initialize(void* data) {

/* Core Processor Initialization */

SYS_CLK_Initialize(NULL);

SYS_DEVCON_Initialize(SYS_DEVCON_INDEX_0, (SYS_MODULE_INIT*) NULL);

SYS_DEVCON_PerformanceConfig(SYS_CLK_SystemFrequencyGet());

SYS_PORTS_Initialize();

//-----追加-----

#if ROSEN_NUM == 0

_TRISB10 = 0;

#else

PLIB_PORTS_RemapInput(PORTS_ID_0, INPUT_FUNC_INT1, INPUT_PIN_RPB10);

#endif

/* Initialize Drivers */

DRV_I2C0_Initialize();

/* Initialize ADC */

DRV_ADC_Initialize();

/*Initialize TMR0 */

DRV_TMR0_Initialize();

//-----追加-----

#if ROSEN_NUM == 0

PLIB_INT_VectorPrioritySet(INT_ID_0, INT_VECTOR_T1, INT_PRIORITY_LEVEL7);

PLIB_INT_VectorSubPrioritySet(INT_ID_0, INT_VECTOR_T1, INT_SUBPRIORITY_LEVEL0);

#endif

sysObj.drvUsart0 = DRV_USART_Initialize(DRV_USART_INDEX_0, (SYS_MODULE_INIT *) NULL);

/* Initialize System Services */

/*** Interrupt Service Initialization Code ***/

SYS_INT_Initialize();

/*Setup the INT_SOURCE_EXTERNAL_1 and Enable it*/

SYS_INT_VectorPrioritySet(INT_VECTOR_INT1, INT_PRIORITY_LEVEL6);

SYS_INT_VectorSubprioritySet(INT_VECTOR_INT1, INT_SUBPRIORITY_LEVEL0);

//-----追加-----

#if ROSEN_NUM != 0

//ExtInterrup

SYS_INT_ExternalInterruptTriggerSet(INT_EXTERNAL_INT_SOURCE1, INT_EDGE_TRIGGER_FALLING);

SYS_INT_SourceEnable(INT_SOURCE_EXTERNAL_1);

#endif

/* Initialize Middleware */

/* Enable Global Interrupts */

SYS_INT_Enable();

/* Initialize the Application */

APP_Initialize();

}

HeaderFiles app に atc.h を追加します。

//
//2021_1105
//
#define TR_COUNT 3      //列車数
#define ROSEN_NUM 1   //路線（ボード）番号
#define BOARD_COUNT 3     //ボード数

#define RX_BYTE 128     //RS232C受信バイト数
#define TX_BYTE 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


//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

struct PSI_BIT {
    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   */
};

struct STATUS_BIT {
    unsigned char CHG : 1; //区間変化
    unsigned char REV : 1; //逆転
    unsigned char SP_MANU : 1; //スピード制御
    unsigned char DUMY : 3; //DUMY
    unsigned char SLOW : 1; //減速
    unsigned char SAFE : 1; //安全
};
//列車の位置情報の構造体

struct st_position {
    //現在位置

    union { /* Position */
        unsigned char BYTE; /* Byte Access */
        struct PSI_BIT BIT; /* Bit  Access */
    } NOW;
    //前の位置

    union { /* Position */
        unsigned char BYTE; /* Byte Access */
        struct PSI_BIT BIT; /* Bit  Access */
    } BEFORE;

    //次の位置

    union { /* Position */
        unsigned char BYTE; /* Byte Access */
        struct PSI_BIT BIT; /* Bit  Access */
    } NEXT;

    //次々の位置

    union { /* Position */
        unsigned char BYTE; /* Byte Access */
        struct PSI_BIT BIT; /* Bit  Access */
    } 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 err_th;

    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

    unsigned char point;
    unsigned char yard;

    union byte_access speed_rx;

    unsigned char REC_NOW;
    unsigned char REC_NEXT;
    unsigned char REC_BEFORE;
    
    
};


//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;

};





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 debug1; //ADC値
union byte_access debug2; //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

int err_buff[2][16]; 
union byte_access err_avr[2]; 
union byte_access timer_value; 
union byte_access log_1;
union byte_access log_2;
union byte_access osc_trg;
unsigned char chg_disable;

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//2021_1105

#define TR_COUNT 3 //列車数

#define ROSEN_NUM 1 //路線（ボード）番号

#define BOARD_COUNT 3 //ボード数

#define RX_BYTE 128 //RS232C受信バイト数

#define TX_BYTE 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

//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

struct PSI_BIT {

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 */

};

struct STATUS_BIT {

unsigned char CHG : 1; //区間変化

unsigned char REV : 1; //逆転

unsigned char SP_MANU : 1; //スピード制御

unsigned char DUMY : 3; //DUMY

unsigned char SLOW : 1; //減速

unsigned char SAFE : 1; //安全

};

//列車の位置情報の構造体

struct st_position {

//現在位置

union { /* Position */

unsigned char BYTE; /* Byte Access */

struct PSI_BIT BIT; /* Bit Access */

} NOW;

//前の位置

union { /* Position */

unsigned char BYTE; /* Byte Access */

struct PSI_BIT BIT; /* Bit Access */

} BEFORE;

//次の位置

union { /* Position */

unsigned char BYTE; /* Byte Access */

struct PSI_BIT BIT; /* Bit Access */

} NEXT;

//次々の位置

union { /* Position */

unsigned char BYTE; /* Byte Access */

struct PSI_BIT BIT; /* Bit Access */

} 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 err_th;

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

unsigned char point;

unsigned char yard;

union byte_access speed_rx;

unsigned char REC_NOW;

unsigned char REC_NEXT;

unsigned char REC_BEFORE;

};

//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;

};

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 debug1; //ADC値

union byte_access debug2; //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

int err_buff[2][16];

union byte_access err_avr[2];

union byte_access timer_value;

union byte_access log_1;

union byte_access log_2;

union byte_access osc_trg;

unsigned char chg_disable;

app.h に追加します。

SourceFiles app に lcd.c を追加します。(変更なし)

//
//
//
#include "system/common/sys_common.h"
#include "app.h"
#include "system_definitions.h"

#define ADR 0x7C
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 BSP_DelayMs(unsigned short);
void BSP_DelayUs(unsigned short);

uint8_t data[5];

//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) {
    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
        }
    }
    
    LCD_dat(decch[n[2]]);
    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
}
/*******************************************************************************
 End of File
 */

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#include "system/common/sys_common.h"

#include "app.h"

#include "system_definitions.h"

#define ADR 0x7C

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 BSP_DelayMs(unsigned short);

void BSP_DelayUs(unsigned short);

uint8_t data[5];

//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) {

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

}

LCD_dat(decch[n[2]]);

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

}

/*******************************************************************************

End of File

SourceFiles app に timer_int.c を追加します。

//
//2021_1106
//
#include "system/common/sys_common.h"
#include "app.h"
#include "system_definitions.h"


void kukan_ON(unsigned char, unsigned char);
void section_change_monitor(unsigned char, unsigned char); //区間変化監視
void next_section_on(unsigned char, unsigned char); //次区間ＯＮ
void read_generated_voltage(unsigned char, unsigned char);
void speed_cont(unsigned char);
void section_change(void);
void board_comm(unsigned char); //ボード間通信
void comm_data_set_tx(void); //通信データ設定TX
void comm_data_set_rx(void); //通信データ設定RX
void point_cont(void);
void yard_cont(void);
void set_on_section(unsigned char, unsigned char);
void set_on_next_section(unsigned char, unsigned char);

void timer_int_func() {

    unsigned char rec_bit; //受信BIT用
    unsigned char send_flg; //送信PORT用

    rec_bit = _RB11;

#if ROSEN_NUM==0
    _RB10 = 0; //ext_int 同期パルス(master board))

#else
    //_RB14 = 1; //OSC
    DRV_TMR0_CounterValueSet(96);
#endif


    //通信用comm_counterはインタラプトを0-0x3ffでカウントします。
    if (++comm_counter > 0x3ff) {
        comm_counter = 0;
    } else {
#if ROSEN_NUM==0
        _RB10 = 1;
        _RB10 = 1;
#endif
    }



#if ROSEN_NUM!=0
    //子ボードは同期パルス幅が大きいときcomm_counterをリセット
    if (_RB10 == 0) {
        comm_counter = 0;
        _RB14 = 1; //OSC
    }
#endif
    //int_counterはcomm_counterの下位9bitの0-0x1ffでカウントします。
    int_counter = comm_counter & 0x1ff;

    _TRISB11 = 1;

    //osc_trg
#if ROSEN_NUM==0
    if (comm_counter == osc_trg.INT)_RB14 = 1;
#endif

    TRISB |= 0x10ff; //0x10ff

    if (int_counter >= 0x10 && int_counter < 0x100) {
        //正転側区間ＯＮ
        kukan_ON(0, 0);
        kukan_ON(1, 0);
    } else if (int_counter >= 0x110 && int_counter <= 0x1ff) {
        //逆転側PWM ON
        kukan_ON(0, 1);
        kukan_ON(1, 1);
    }

    switch (int_counter) {
        case 0:
            section_change();
            
            //正方向ON区間設定
            set_on_section(0, 0);
            set_on_section(1, 0);

            break;

        case 2:
            speed_cont(0);
            speed_cont(1);
            break;

        case 0x12:
            //区間変化監視
            section_change_monitor(0, 0);
            break;
        case 0x13:
            //区間変化監視
            section_change_monitor(1, 0);
            break;

        case 0x15:
            //区間変化確認後に次区間もON
            set_on_next_section(0, 0);
            set_on_next_section(1, 0);
            break;

        case 0x100:
            //負方向ON区間設定
            set_on_section(0, 1);
            set_on_section(1, 1);

            break;

        case 0x112:
            //区間変化監視
            section_change_monitor(0, 1);
            break;
        case 0x113:
            //区間変化監視
            section_change_monitor(1, 1);
            break;

        case 0x115:
            //区間変化確認後に次区間もON
            set_on_next_section(0, 1);
            set_on_next_section(1, 1);
            break;

    }
    //走行スピード読み込み
    if (int_counter >= 0x8 && int_counter < 0xF) {
        read_generated_voltage(int_counter & 1, 1);
    }
    if (int_counter >= 0x108 && int_counter < 0x10F) {
        read_generated_voltage(int_counter & 1, 0);
    }


    switch (comm_counter) {
#if ROSEN_NUM == 0//-----ポイント yard 制御----------       
        case 0x3:
            point_cont();
            break;
        case 0x5:
            yard_cont();
            break;
#endif
        case 0x4:
            comm_data_set_tx();
            break;
        case 0x6:
            comm_data_set_rx();
            break;

    }


    //ボード間の通信
    board_comm(rec_bit);


#if ROSEN_NUM==0
    //幅広同期パルスOFF
    if (comm_counter == 0) {
        _RB10 = 1;

    }

#endif

    int sp_mem = 0;
    int sp1 = 0;
    int sp2 = 0;
    unsigned char ku1 = 0;
    unsigned char ku2 = 0;

    if (train_sou[0]) {
        sp1 = train_sou[0]->speed_cont.INT * 960 / 256; //
        ku1 = kukan[0];
    }
    if (train_sou[1]) {
        sp2 = train_sou[1]->speed_cont.INT * 960 / 256; //
        ku2 = kukan[1];
    }
    
    if (sp1 > sp2) {
        //sp2のほうが小さい　小さい方先
        sp_mem = sp1;
        sp1 = sp2;
        sp2 = sp_mem;
        ku1 = kukan[1];
        ku2 = kukan[0];
    }

    _RB14 = 0; //OSC

    int sp_max = 0x340;

    if (sp1 > sp_max)sp1 = sp_max;
    if (sp2 > sp_max)sp2 = sp_max;

    do {
        timer_value.INT = DRV_TMR0_CounterValueGet();
    } while (timer_value.INT < sp1);

    if (ku1) TRISB |= ku1;

    do {
        timer_value.INT = DRV_TMR0_CounterValueGet();
    } while (timer_value.INT < sp2);

    if (ku2) TRISB |= ku2;



}

void set_on_section(unsigned char sou, unsigned char dir) {

    if (train_sou[sou]) {
        if (train_sou[sou]->NOW.BIT.DIR == dir) {
            kukan[sou] = 0; //kukan clr

            if (train_sou[sou]->STATUS.BIT.SP_MANU == 1)
                speed_pw[sou] = train_sou[sou]->speed; //manual speed
            else
                speed_pw[sou] = train_sou[sou]->speed_cont.INT; //auto speed

            //区間メモリに現・前位置の区間を設定し区間ON
            if (train_sou[sou]->NOW.BIT.ROSEN == ROSEN_NUM) {
                if (speed_pw[sou] > 0)
                    kukan[sou] = EnableBit[train_sou[sou]->NOW.BIT.KUKAN];
                kanshi_now[sou] = train_sou[sou]->NOW.BIT.KUKAN;
            }
            if (train_sou[sou]->BEFORE.BIT.ROSEN == ROSEN_NUM) {
                if (speed_pw[sou] > 0)
                    kukan[sou] |= EnableBit[train_sou[sou]->BEFORE.BIT.KUKAN];
                kanshi_before[sou] = train_sou[sou]->BEFORE.BIT.KUKAN;
            }

        }
    }

}

void set_on_next_section(unsigned char sou, unsigned char dir) {

    if (train_sou[sou]) {
        if (train_sou[sou]->STATUS.BIT.SAFE) {
            //安全でないときは次区間に他の列車がかかっているのでONしない。
            if (train_sou[sou]->NOW.BIT.DIR == dir) {
                if (train_sou[sou]->NEXT.BIT.ROSEN == ROSEN_NUM) {
                    kukan[sou] |= EnableBit[train_sou[sou]->NEXT.BIT.KUKAN];
                }
            }
        }
    }
}


//区間ON用

void kukan_ON(unsigned char sou, unsigned char d) {
    if (train_sou[sou]) {
        if (train_sou[sou]->NOW.BIT.DIR == d) {
            // d=0:正回転, 1:負回転
            if (d == 0) {
                LATB |= kukan[sou];
                _LATB12 = 0; //Port RB12は共通側
            } else {
                LATB &= ~kukan[sou];
                _LATB12 = 1;
            }

            TRISB &= ~kukan[sou];
            _TRISB12 = 0;
        }
    }

}

void section_change_monitor(unsigned char sou, unsigned char dir) {
    static char sum_count;
    static int gnd_sum;

    if (train_sou[sou]) {
        if (train_sou[sou^1]) //相手変更中は変更しない
            if (train_sou[sou^1]->henka) return;

        if (train_sou[sou]->NOW.BIT.DIR == dir) {
            char chg_enable = 0;
            if (train_sou[sou^0x1]) {
                //向き合いの時区間変更許可
                if (train_sou[sou]->NOW.BIT.DIR != train_sou[sou^0x1]->NOW.BIT.DIR)
                    chg_enable = 1;
            }

            if (train_sou[sou]->STATUS.BIT.SAFE || chg_enable)
                if (!train_sou[sou]->henka) {
                    if (train_sou[sou]->NEXT.BIT.ROSEN == ROSEN_NUM) {
                        //次位置区間の監視
                        kanshi.BIT.KUKAN = train_sou[sou]->NEXT.BIT.KUKAN;
                        LATA &= 0xC3;
                        LATA |= kanshi.BYTE;

                        //ADC読み込み
                        BSP_DelayUs(1);
                        //_RB14 = 1;
                        PLIB_ADC_SamplingStart(ADC_ID_1);
                        while (!PLIB_ADC_ConversionHasCompleted(ADC_ID_1));
                        adc_ret.INT = PLIB_ADC_ResultGetByIndex(ADC_ID_1, 0);
                        //_RB14 = 0;

                        if (train_sou[sou]->NOW.BIT.DIR == 0) {
                            //正方向のとき
                            if (adc_ret.INT >= 0x280) {
                                train_sou[sou]->henka = 0x80; //区間変化

                            }
                            if (sou == 0)debug1.INT = adc_ret.INT;
                            else debug2.INT = adc_ret.INT;
                        } else {
                            //逆方向のとき
                            if (adc_ret.INT < 0x180) {
                                train_sou[sou]->henka = 0x80; //区間変化

                            }
                            if (sou == 0)debug1.INT = adc_ret.INT;
                            else debug2.INT = adc_ret.INT;
                        }

                    }
                }
        }
    }

}

void next_section_on(unsigned char sou, unsigned char dir) {
    //次区間をON
    if (train_sou[sou]) {
        if (train_sou[sou]->NOW.BIT.DIR == dir) {
            if (train_sou[sou]->STATUS.BIT.SAFE) {
                //安全でないときは次区間に他の列車がかかっているのでONしない。
                if (train_sou[sou]->NEXT.BIT.ROSEN == ROSEN_NUM) {
                    kukan[sou] |= EnableBit[train_sou[sou]->NEXT.BIT.KUKAN];
                    //kukan_ON(kukan[sou], train_sou[sou]->NOW.BIT.DIR);
                }
            }
        }
    }
}

void read_generated_voltage(unsigned char n, unsigned char sou) {
    static unsigned char count[2], p[2], count_B[2];
    static int speed_buf[2][32]; //16
    static int read_speed[2];
    static int speed_sou[2]; //相手のスピード

    char m;

    if (train_sou[sou]) {

        char sou_b = 0;
        if (sou == 0) sou_b = 1;

        //現位置と前位置を交互に読み込み
        if (n == 0) {//n == 0
            kanshi.BIT.KUKAN = kanshi_now[sou];
            //kanshi.BIT.KUKAN = train_sou[sou]->NOW.BIT.KUKAN;
        } else {
            kanshi.BIT.KUKAN = kanshi_before[sou];
            //kanshi.BIT.KUKAN = train_sou[sou]->BEFORE.BIT.KUKAN;
        }

        //        LATA &= 0xC3;
        //        LATA |= kanshi.BYTE;
        PORTA = kanshi.BYTE;

        //BSP_DelayUs(1);

        //ADC読み込み
        PLIB_ADC_SamplingStart(ADC_ID_1);
        while (!PLIB_ADC_ConversionHasCompleted(ADC_ID_1));
        adc_ret.INT = PLIB_ADC_ResultGetByIndex(ADC_ID_1, 0);

        //ADC値からGND値を引いて絶対値をとります。
        adc_ret.INT = adc_ret.INT - gnd_level.INT;

        if (adc_ret.INT < 0)
            adc_ret.INT = -adc_ret.INT;

        //8回のピーク値をスピードデータにします。
        //        if (count[sou]++ == 7) {
        //            read_speed[sou] = adc_ret.INT;
        //            count[sou] = 0;
        //        } else if (adc_ret.INT > read_speed[sou]) {
        //            read_speed[sou] = adc_ret.INT;
        //            return; //ここで終了
        //        }


        //8回のピーク値をスピードデータにします。
        if (adc_ret.INT > read_speed[sou]) {
            read_speed[sou] = adc_ret.INT;
        }

        speed_sou[sou] = read_speed[sou];

        //        p[sou]++;
        //        if (p[sou] == 16) p[sou] = 0;
        //
        //        speed_buf[sou][p[sou]] = read_speed[sou]; //0xf
        speed_buf[sou][++p[sou] & 0xf] = read_speed[sou]; //0xf

        //peek reset
        if (++count[sou] == 8) {
            read_speed[sou] = adc_ret.INT;
            count[sou] = 0;
        }


        //移動平均
        //char m;
        unsigned long avr = 0;

        for (m = 0; m < 16; m++) {//16
            avr += speed_buf[sou][m];
        }

        avr >>= 4; //4
        //avr = read_speed[sou];

        //読み取り電圧補正
        //        if (volt_kb.INT < 0x100 || volt_kb.INT > 0x280)
        //            volt_kb.INT = 0x150;
        //
        //        avr = avr * volt_kb.INT;
        //        avr = avr / 0x100;

        //train_sou[sou]->speed_ret.INT = avr; //4


        if (count_B[sou]++ == 15) {
            count_B[sou] = 0;

            if (avr < train_sou[sou]->speed_ret.INT) {
                train_sou[sou]->speed_ret.INT--;
            } else if (avr > train_sou[sou]->speed_ret.INT)
                train_sou[sou]->speed_ret.INT++;
        }


        if (train_sou[sou]->NOW.BIT.ROSEN == ROSEN_NUM) {
            if (train_sou[sou]->NOW.BIT.ROSEN != train_sou[sou]->BEFORE.BIT.ROSEN) {
                if (train_sou[sou]->speed_ret_rx.INT > train_sou[sou]->speed_ret.INT) {
                    train_sou[sou]->speed_ret.INT = train_sou[sou]->speed_ret_rx.INT;
                }
            }
        }


    }
}

void speed_cont(unsigned char sou) {
    int err; //スピードのエラー
    int err_abs; //err絶対値
    int err_def; //errの差
    int k1 = 0x55; //感度１ 0x10
    int d; //エラー補正値

    static char count[2];
    static char count_avr[2];

    if (!train_sou[sou])return;

    // スピード設定値と実際スピードの比較
    err = train_sou[sou]->speed - train_sou[sou]->speed_ret.INT;

    //エラーの絶対値をとります
    if (err < 0)
        err_abs = -err;
    else
        err_abs = err;

    //前回のエラーと比較
    err_def = err_abs - train_sou[sou]->speed_err;
    train_sou[sou]->speed_err = err_abs;

    k1 += err_def;

    //エラー補正値の計算
    d = (err * k1) / 0x100;

    err_buff[sou][count_avr[sou]++ & 0xF] = err; //err_abs

    //---error avrage---
    int err_sum = 0;
    char c;
    for (c = 0; c < 16; c++) {
        err_sum += err_buff[sou][c];
    }
    err_avr[sou].INT = err_sum / 0x10; //>>4

    err_abs = err_avr[sou].INT;
    if (err_abs < 0)err_abs = -err_abs;

    //--test--
    //d = (err * err_avr[sou].INT) / 0x80;
    //d = err_avr[sou].INT / 0x10;
    d = err_avr[sou].INT / 10;
    int d_max = 0x50; //20
    char cont_t = 10; //40

    if (train_sou[sou]->speed_ret.INT < 10) {
        d_max = 0x100;
        cont_t = 2;
    }

    if (d > d_max)d = d_max;
    else if (d < -d_max)d = -d_max;


    //スピード設定が０のとき補正値が負でない場合
    //完全に停止させるため補正値を-1にします
    if (train_sou[sou]->speed == 0) {
        cont_t = 2; //減速早く
        if (d>-0x1)
            d = -0x1; //-0x10
    } else {
        //if (err_avr[sou].INT < train_sou[sou]->err_th)return;
        //if (err_abs < train_sou[sou]->err_th)return;
    }


    //if (d < 0) cont_t = 20; //減速は早く


    //スピードコントロール値をエラー補正値で補正
    if (++count[sou] > cont_t) {//10
        count[sou] = 0;
        train_sou[sou]->speed_cont.INT += d;
    } else {
        return;
    }


    //結果が負にならないようにする
    if (train_sou[sou]->speed_cont.INT < 0)
        train_sou[sou]->speed_cont.INT = 0;

    //接触不良時の制限(0xb0)
    //    if (train_sou[sou]->speed_ret.INT < 0x4)
    //        if (train_sou[sou]->speed_cont.INT > 0xb0)
    //            train_sou[sou]->speed_cont.INT = 0xb0;
    //
    //Speedの最大値を制限(0xE8)
    if (train_sou[sou]->speed_cont.INT > 0xF8)
        train_sou[sou]->speed_cont.INT = 0xF8;


}

void section_change() {
    char n;
    // if (chg_disable) return;

    for (n = 0; n < TR_COUNT; n++) {
        if (train[n].STATUS.BIT.CHG == 1) {
            //受信データに置き換え
            train[n].BEFORE.BYTE = train[n].REC_BEFORE;
            train[n].NOW.BYTE = train[n].REC_NOW;
            train[n].NEXT.BYTE = train[n].REC_NEXT;

            if (cont_train[0] == n) {
                cont_train[0] = 0xff;
                train_sou[0] = NULL;
            }
            if (cont_train[1] == n) {
                cont_train[1] = 0xff;
                train_sou[1] = NULL;
            }

            if ((train[n].NOW.BIT.ROSEN == ROSEN_NUM)
                    || (train[n].NEXT.BIT.ROSEN == ROSEN_NUM)
                    || (train[n].BEFORE.BIT.ROSEN == ROSEN_NUM)) {
                //各相の列車登録
                cont_train[train[n].NOW.BIT.SOU] = n;
                train_sou[train[n].NOW.BIT.SOU] = &train[n];
            } else {
                train[n].speed_cont.INT = 0;
            }

            train[n].henka = 0;
            train[n].STATUS.BIT.CHG = 0;

        }
    }


    //kukan clr
    kukan[0] = 0;
    kukan[1] = 0;



}

void board_comm(unsigned char rec_bit) {
    unsigned char bit_p;
    unsigned int data_p;

    data_p = (comm_counter - 1) & 0x3ff;
    bit_p = EnableBit[data_p & 7]; //bit位置set
    data_p >>= 3;
    board_num = data_p;
    board_num >>= 4;

#if ROSEN_NUM == 0
    //親ボードのみポイントなどのボードに送信
    if (!(board_num == ROSEN_NUM || board_num == 6)) {
#else
    if (!(board_num == ROSEN_NUM)) {
#endif
        //データ受信
        _TRISB11 = 1;

        if (rec_bit)
            receive_data |= bit_p;
        else
            receive_data &= ~bit_p;

        if (bit_p == 0x80) {

            comm_data[data_p] = receive_data;
        }

    }


    //ボード間データ通信
    data_p = comm_counter & 0x3ff;
    bit_p = EnableBit[data_p & 7]; //bit位置set
    data_p >>= 3;
    board_num = data_p;
    board_num >>= 4;

#if ROSEN_NUM == 0
    //親ボードのみポイントなどのボードに送信
    if (board_num == ROSEN_NUM || board_num == 6) {
#else
    if (board_num == ROSEN_NUM) {
#endif
        //データ送信
        _TRISB11 = 0;

        send_data = comm_data[data_p];

        //送信PORTデータセット
        if (send_data & bit_p)
            _RB11 = 1;
        else
            _RB11 = 0;

    }
}

void comm_data_set_tx() {
    unsigned char n;
    unsigned int data_p;

    //comm_data 送信データSET
    data_p = ROSEN_NUM << 4;
    //A相
    n = cont_train[0];
    if (n != 0xff) {
        comm_data[data_p] = n + 0xA0;
        comm_data[data_p + 1] = train[n].speed_ret.BYTE.H; //speed_ret_tx
        comm_data[data_p + 2] = train[n].speed_ret.BYTE.L;
        comm_data[data_p + 3] = train[n].henka;
        comm_data[data_p + 4] = train[n].speed_cont.BYTE.H;
        comm_data[data_p + 5] = train[n].speed_cont.BYTE.L;

        comm_data[data_p + 6] = train[n].NOW.BYTE;

        //comm_data[data_p + 7] = debug1.BYTE.L;

    } else
        comm_data[data_p] = 0xFF;


    //B相
    n = cont_train[1];
    data_p += 0x8;

    if (n != 0xff) {
        comm_data[data_p] = n + 0xA0;
        comm_data[data_p + 1] = train[n].speed_ret.BYTE.H; //speed_ret_tx
        comm_data[data_p + 2] = train[n].speed_ret.BYTE.L;
        comm_data[data_p + 3] = train[n].henka;
        comm_data[data_p + 4] = train[n].speed_cont.BYTE.H;
        comm_data[data_p + 5] = train[n].speed_cont.BYTE.L;

        comm_data[data_p + 6] = train[n].NOW.BYTE;
    } else
        comm_data[data_p] = 0xFF;

}

void comm_data_set_rx() {
    //受信データSET
    unsigned char n;
    unsigned int data_p;

    for (board_num = 0; board_num < BOARD_COUNT; board_num++) {
        if (board_num != ROSEN_NUM) {
            //自ボード以外受信
            data_p = board_num << 4;
            //A相
            n = comm_data[data_p];
            if ((n & 0xF0) == 0xA0) {
                n &= 0xF;

                train[n].speed_ret_rx.BYTE.H = comm_data[data_p + 1];
                train[n].speed_ret_rx.BYTE.L = comm_data[data_p + 2];

                if (train[n].NOW.BIT.ROSEN != ROSEN_NUM) {
                    if (train[n].NOW.BIT.ROSEN == train[n].BEFORE.BIT.ROSEN)
                        //現位置および前位置が他路線のとき実スピード受信
                        train[n].speed_ret.INT = train[n].speed_ret_rx.INT;
                }

                if (ROSEN_NUM == 0)//Masterボードのみ区間変化受信
                    if (train[n].NEXT.BIT.ROSEN != 0) {
                        //NextがMasterボード以外のとき受信
                        if (train[n].NEXT.BIT.ROSEN == board_num)//次区間のボードの区間変化を受信
                            train[n].henka = comm_data[data_p + 3];
                    }


                train[n].speed_rx.BYTE.H = comm_data[data_p + 4];
                train[n].speed_rx.BYTE.L = comm_data[data_p + 5];

                if (train[n].NOW.BIT.ROSEN != ROSEN_NUM) {
                    if (train[n].NEXT.BIT.ROSEN == ROSEN_NUM)
                        //ポイント切り替え時次区間でspeed_cont渡し
                        train[n].speed_cont.INT = train[n].speed_rx.INT;
                }


            }
            //B相
            data_p += 0x8;
            n = comm_data[data_p];
            if ((n & 0xF0) == 0xA0) {
                n &= 0xF;

                train[n].speed_ret_rx.BYTE.H = comm_data[data_p + 1];
                train[n].speed_ret_rx.BYTE.L = comm_data[data_p + 2];

                if (train[n].NOW.BIT.ROSEN != ROSEN_NUM) {
                    if (train[n].NOW.BIT.ROSEN == train[n].BEFORE.BIT.ROSEN)
                        //現位置および前位置が他路線のとき実スピード受信
                        train[n].speed_ret.INT = train[n].speed_ret_rx.INT;
                }

                if (ROSEN_NUM == 0)//Masterボードのみ区間変化受信
                    if (train[n].NEXT.BIT.ROSEN != 0) {
                        //NextがMasterボード以外のとき受信
                        if (train[n].NEXT.BIT.ROSEN == board_num)//次区間のボードの区間変化を受信
                            train[n].henka = comm_data[data_p + 3];
                    }

                train[n].speed_rx.BYTE.H = comm_data[data_p + 4];
                train[n].speed_rx.BYTE.L = comm_data[data_p + 5];

                if (train[n].NOW.BIT.ROSEN != ROSEN_NUM) {
                    if (train[n].NEXT.BIT.ROSEN == ROSEN_NUM)
                        //ポイント切り替え時次区間でspeed_cont渡し
                        train[n].speed_cont.INT = train[n].speed_rx.INT;
                }


            }
        }
    }


#if ROSEN_NUM == 0
    //point_request
    if (point_req) {
        if (!comm_data[0x70]) {
            //ready
            comm_data[0x60] = point_req; //point_data
        } else
            //busy
            if (comm_data[0x60]) {
            //リクエストクリア
            point_req = 0;
            comm_data[0x60] = 0;
        }
    }

    //yardt_request
    if (yard_req) {
        if (!comm_data[0x71]) {
            //ready
            comm_data[0x61] = yard_req; //point_data
        } else
            //busy
            if (comm_data[0x61]) {
            //リクエストクリア
            yard_req = 0;
            comm_data[0x61] = 0;
        }
    }
#endif

}

//ポイント制御

void point_cont() {
    unsigned char n;

    if (!point_req) {
        for (n = 0; n < TR_COUNT; n++) {
            if ((train[n].point & 0x80) != 0) {
                point_req = train[n].point;
                train[n].point = 0;
                break;
            }
        }
    }
}

//ヤード制御

void yard_cont() {
    unsigned char n;

    if (!yard_req) {
        for (n = 0; n < TR_COUNT; n++) {
            if ((train[n].yard & 0x80) != 0) {
                yard_req = train[n].yard;
                train[n].yard = 0;
                break;
            }
        }
    }
}



/* *****************************************************************************
 End of File
 */

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//2021_1106

#include "system/common/sys_common.h"

#include "app.h"

#include "system_definitions.h"

void kukan_ON(unsigned char, unsigned char);

void section_change_monitor(unsigned char, unsigned char); //区間変化監視

void next_section_on(unsigned char, unsigned char); //次区間ＯＮ

void read_generated_voltage(unsigned char, unsigned char);

void speed_cont(unsigned char);

void section_change(void);

void board_comm(unsigned char); //ボード間通信

void comm_data_set_tx(void); //通信データ設定TX

void comm_data_set_rx(void); //通信データ設定RX

void point_cont(void);

void yard_cont(void);

void set_on_section(unsigned char, unsigned char);

void set_on_next_section(unsigned char, unsigned char);

void timer_int_func() {

unsigned char rec_bit; //受信BIT用

unsigned char send_flg; //送信PORT用

rec_bit = _RB11;

#if ROSEN_NUM==0

_RB10 = 0; //ext_int 同期パルス(master board))

#else

//_RB14 = 1; //OSC

DRV_TMR0_CounterValueSet(96);

#endif

//通信用comm_counterはインタラプトを0-0x3ffでカウントします。

if (++comm_counter > 0x3ff) {

comm_counter = 0;

} else {

#if ROSEN_NUM==0

_RB10 = 1;

#endif

}

#if ROSEN_NUM!=0

//子ボードは同期パルス幅が大きいときcomm_counterをリセット

if (_RB10 == 0) {

comm_counter = 0;

_RB14 = 1; //OSC

}

#endif

//int_counterはcomm_counterの下位9bitの0-0x1ffでカウントします。

int_counter = comm_counter & 0x1ff;

_TRISB11 = 1;

//osc_trg

#if ROSEN_NUM==0

if (comm_counter == osc_trg.INT)_RB14 = 1;

#endif

TRISB |= 0x10ff; //0x10ff

if (int_counter >= 0x10 && int_counter < 0x100) {

//正転側区間ＯＮ

kukan_ON(0, 0);

kukan_ON(1, 0);

} else if (int_counter >= 0x110 && int_counter <= 0x1ff) {

//逆転側PWM ON

kukan_ON(0, 1);

kukan_ON(1, 1);

}

switch (int_counter) {

case 0:

section_change();

//正方向ON区間設定

set_on_section(0, 0);

set_on_section(1, 0);

break;

case 2:

speed_cont(0);

speed_cont(1);

break;

case 0x12:

//区間変化監視

section_change_monitor(0, 0);

break;

case 0x13:

//区間変化監視

section_change_monitor(1, 0);

break;

case 0x15:

//区間変化確認後に次区間もON

set_on_next_section(0, 0);

set_on_next_section(1, 0);

break;

case 0x100:

//負方向ON区間設定

set_on_section(0, 1);

set_on_section(1, 1);

break;

case 0x112:

//区間変化監視

section_change_monitor(0, 1);

break;

case 0x113:

//区間変化監視

section_change_monitor(1, 1);

break;

case 0x115:

//区間変化確認後に次区間もON

set_on_next_section(0, 1);

set_on_next_section(1, 1);

break;

}

//走行スピード読み込み

if (int_counter >= 0x8 && int_counter < 0xF) {

read_generated_voltage(int_counter & 1, 1);

}

if (int_counter >= 0x108 && int_counter < 0x10F) {

read_generated_voltage(int_counter & 1, 0);

}

switch (comm_counter) {

#if ROSEN_NUM == 0//-----ポイント yard 制御----------

case 0x3:

point_cont();

break;

case 0x5:

yard_cont();

break;

#endif

case 0x4:

comm_data_set_tx();

break;

case 0x6:

comm_data_set_rx();

break;

}

//ボード間の通信

board_comm(rec_bit);

#if ROSEN_NUM==0

//幅広同期パルスOFF

if (comm_counter == 0) {

_RB10 = 1;

}

#endif

int sp_mem = 0;

int sp1 = 0;

int sp2 = 0;

unsigned char ku1 = 0;

unsigned char ku2 = 0;

if (train_sou[0]) {

sp1 = train_sou[0]->speed_cont.INT * 960 / 256; //

ku1 = kukan[0];

}

if (train_sou[1]) {

sp2 = train_sou[1]->speed_cont.INT * 960 / 256; //

ku2 = kukan[1];

}

if (sp1 > sp2) {

//sp2のほうが小さい　小さい方先

sp_mem = sp1;

sp1 = sp2;

sp2 = sp_mem;

ku1 = kukan[1];

ku2 = kukan[0];

}

_RB14 = 0; //OSC

int sp_max = 0x340;

if (sp1 > sp_max)sp1 = sp_max;

if (sp2 > sp_max)sp2 = sp_max;

do {

timer_value.INT = DRV_TMR0_CounterValueGet();

} while (timer_value.INT < sp1);

if (ku1) TRISB |= ku1;

do {

timer_value.INT = DRV_TMR0_CounterValueGet();

} while (timer_value.INT < sp2);

if (ku2) TRISB |= ku2;

}

void set_on_section(unsigned char sou, unsigned char dir) {

if (train_sou[sou]) {

if (train_sou[sou]->NOW.BIT.DIR == dir) {

kukan[sou] = 0; //kukan clr

if (train_sou[sou]->STATUS.BIT.SP_MANU == 1)

speed_pw[sou] = train_sou[sou]->speed; //manual speed

else

speed_pw[sou] = train_sou[sou]->speed_cont.INT; //auto speed

//区間メモリに現・前位置の区間を設定し区間ON

if (train_sou[sou]->NOW.BIT.ROSEN == ROSEN_NUM) {

if (speed_pw[sou] > 0)

kukan[sou] = EnableBit[train_sou[sou]->NOW.BIT.KUKAN];

kanshi_now[sou] = train_sou[sou]->NOW.BIT.KUKAN;

}

if (train_sou[sou]->BEFORE.BIT.ROSEN == ROSEN_NUM) {

if (speed_pw[sou] > 0)

kukan[sou] |= EnableBit[train_sou[sou]->BEFORE.BIT.KUKAN];

kanshi_before[sou] = train_sou[sou]->BEFORE.BIT.KUKAN;

}

void set_on_next_section(unsigned char sou, unsigned char dir) {

if (train_sou[sou]) {

if (train_sou[sou]->STATUS.BIT.SAFE) {

//安全でないときは次区間に他の列車がかかっているのでONしない。

if (train_sou[sou]->NOW.BIT.DIR == dir) {

if (train_sou[sou]->NEXT.BIT.ROSEN == ROSEN_NUM) {

kukan[sou] |= EnableBit[train_sou[sou]->NEXT.BIT.KUKAN];

}

//区間ON用

void kukan_ON(unsigned char sou, unsigned char d) {

if (train_sou[sou]) {

if (train_sou[sou]->NOW.BIT.DIR == d) {

// d=0:正回転, 1:負回転

if (d == 0) {

LATB |= kukan[sou];

_LATB12 = 0; //Port RB12は共通側

} else {

LATB &= ~kukan[sou];

_LATB12 = 1;

}

TRISB &= ~kukan[sou];

_TRISB12 = 0;

}

void section_change_monitor(unsigned char sou, unsigned char dir) {

static char sum_count;

static int gnd_sum;

if (train_sou[sou]) {

if (train_sou[sou^1]) //相手変更中は変更しない

if (train_sou[sou^1]->henka) return;

if (train_sou[sou]->NOW.BIT.DIR == dir) {

char chg_enable = 0;

if (train_sou[sou^0x1]) {

//向き合いの時区間変更許可

if (train_sou[sou]->NOW.BIT.DIR != train_sou[sou^0x1]->NOW.BIT.DIR)

chg_enable = 1;

}

if (train_sou[sou]->STATUS.BIT.SAFE || chg_enable)

if (!train_sou[sou]->henka) {

if (train_sou[sou]->NEXT.BIT.ROSEN == ROSEN_NUM) {

//次位置区間の監視

kanshi.BIT.KUKAN = train_sou[sou]->NEXT.BIT.KUKAN;

LATA &= 0xC3;

LATA |= kanshi.BYTE;

//ADC読み込み

BSP_DelayUs(1);

//_RB14 = 1;

PLIB_ADC_SamplingStart(ADC_ID_1);

while (!PLIB_ADC_ConversionHasCompleted(ADC_ID_1));

adc_ret.INT = PLIB_ADC_ResultGetByIndex(ADC_ID_1, 0);

//_RB14 = 0;

if (train_sou[sou]->NOW.BIT.DIR == 0) {

//正方向のとき

if (adc_ret.INT >= 0x280) {

train_sou[sou]->henka = 0x80; //区間変化

}

if (sou == 0)debug1.INT = adc_ret.INT;

else debug2.INT = adc_ret.INT;

} else {

//逆方向のとき

if (adc_ret.INT < 0x180) {

train_sou[sou]->henka = 0x80; //区間変化

}

if (sou == 0)debug1.INT = adc_ret.INT;

else debug2.INT = adc_ret.INT;

}

void next_section_on(unsigned char sou, unsigned char dir) {

//次区間をON

if (train_sou[sou]) {

if (train_sou[sou]->NOW.BIT.DIR == dir) {

if (train_sou[sou]->STATUS.BIT.SAFE) {

//安全でないときは次区間に他の列車がかかっているのでONしない。

if (train_sou[sou]->NEXT.BIT.ROSEN == ROSEN_NUM) {

kukan[sou] |= EnableBit[train_sou[sou]->NEXT.BIT.KUKAN];

//kukan_ON(kukan[sou], train_sou[sou]->NOW.BIT.DIR);

}

void read_generated_voltage(unsigned char n, unsigned char sou) {

static unsigned char count[2], p[2], count_B[2];

static int speed_buf[2][32]; //16

static int read_speed[2];

static int speed_sou[2]; //相手のスピード

char m;

if (train_sou[sou]) {

char sou_b = 0;

if (sou == 0) sou_b = 1;

//現位置と前位置を交互に読み込み

if (n == 0) {//n == 0

kanshi.BIT.KUKAN = kanshi_now[sou];

//kanshi.BIT.KUKAN = train_sou[sou]->NOW.BIT.KUKAN;

} else {

kanshi.BIT.KUKAN = kanshi_before[sou];

//kanshi.BIT.KUKAN = train_sou[sou]->BEFORE.BIT.KUKAN;

}

// LATA &= 0xC3;

// LATA |= kanshi.BYTE;

PORTA = kanshi.BYTE;

//BSP_DelayUs(1);

//ADC読み込み

PLIB_ADC_SamplingStart(ADC_ID_1);

while (!PLIB_ADC_ConversionHasCompleted(ADC_ID_1));

adc_ret.INT = PLIB_ADC_ResultGetByIndex(ADC_ID_1, 0);

//ADC値からGND値を引いて絶対値をとります。

adc_ret.INT = adc_ret.INT - gnd_level.INT;

if (adc_ret.INT < 0)

adc_ret.INT = -adc_ret.INT;

//8回のピーク値をスピードデータにします。

// if (count[sou]++ == 7) {

// read_speed[sou] = adc_ret.INT;

// count[sou] = 0;

// } else if (adc_ret.INT > read_speed[sou]) {

// read_speed[sou] = adc_ret.INT;

// return; //ここで終了

// }

//8回のピーク値をスピードデータにします。

if (adc_ret.INT > read_speed[sou]) {

read_speed[sou] = adc_ret.INT;

}

speed_sou[sou] = read_speed[sou];

// p[sou]++;

// if (p[sou] == 16) p[sou] = 0;

// speed_buf[sou][p[sou]] = read_speed[sou]; //0xf

speed_buf[sou][++p[sou] & 0xf] = read_speed[sou]; //0xf

//peek reset

if (++count[sou] == 8) {

read_speed[sou] = adc_ret.INT;

count[sou] = 0;

}

//移動平均

//char m;

unsigned long avr = 0;

for (m = 0; m < 16; m++) {//16

avr += speed_buf[sou][m];

}

avr >>= 4; //4

//avr = read_speed[sou];

//読み取り電圧補正

// if (volt_kb.INT < 0x100 || volt_kb.INT > 0x280)

// volt_kb.INT = 0x150;

// avr = avr * volt_kb.INT;

// avr = avr / 0x100;

//train_sou[sou]->speed_ret.INT = avr; //4

if (count_B[sou]++ == 15) {

count_B[sou] = 0;

if (avr < train_sou[sou]->speed_ret.INT) {

train_sou[sou]->speed_ret.INT--;

} else if (avr > train_sou[sou]->speed_ret.INT)

train_sou[sou]->speed_ret.INT++;

}

if (train_sou[sou]->NOW.BIT.ROSEN == ROSEN_NUM) {

if (train_sou[sou]->NOW.BIT.ROSEN != train_sou[sou]->BEFORE.BIT.ROSEN) {

if (train_sou[sou]->speed_ret_rx.INT > train_sou[sou]->speed_ret.INT) {

train_sou[sou]->speed_ret.INT = train_sou[sou]->speed_ret_rx.INT;

}

void speed_cont(unsigned char sou) {

int err; //スピードのエラー

int err_abs; //err絶対値

int err_def; //errの差

int k1 = 0x55; //感度１ 0x10

int d; //エラー補正値

static char count[2];

static char count_avr[2];

if (!train_sou[sou])return;

// スピード設定値と実際スピードの比較

err = train_sou[sou]->speed - train_sou[sou]->speed_ret.INT;

//エラーの絶対値をとります

if (err < 0)

err_abs = -err;

else

err_abs = err;

//前回のエラーと比較

err_def = err_abs - train_sou[sou]->speed_err;

train_sou[sou]->speed_err = err_abs;

k1 += err_def;

//エラー補正値の計算

d = (err * k1) / 0x100;

err_buff[sou][count_avr[sou]++ & 0xF] = err; //err_abs

//---error avrage---

int err_sum = 0;

char c;

for (c = 0; c < 16; c++) {

err_sum += err_buff[sou][c];

}

err_avr[sou].INT = err_sum / 0x10; //>>4

err_abs = err_avr[sou].INT;

if (err_abs < 0)err_abs = -err_abs;

//--test--

//d = (err * err_avr[sou].INT) / 0x80;

//d = err_avr[sou].INT / 0x10;

d = err_avr[sou].INT / 10;

int d_max = 0x50; //20

char cont_t = 10; //40

if (train_sou[sou]->speed_ret.INT < 10) {

d_max = 0x100;

cont_t = 2;

}

if (d > d_max)d = d_max;

else if (d < -d_max)d = -d_max;

//スピード設定が０のとき補正値が負でない場合

//完全に停止させるため補正値を-1にします

if (train_sou[sou]->speed == 0) {

cont_t = 2; //減速早く

if (d>-0x1)

d = -0x1; //-0x10

} else {

//if (err_avr[sou].INT < train_sou[sou]->err_th)return;

//if (err_abs < train_sou[sou]->err_th)return;

}

//if (d < 0) cont_t = 20; //減速は早く

//スピードコントロール値をエラー補正値で補正

if (++count[sou] > cont_t) {//10

count[sou] = 0;

train_sou[sou]->speed_cont.INT += d;

} else {

return;

}

//結果が負にならないようにする

if (train_sou[sou]->speed_cont.INT < 0)

train_sou[sou]->speed_cont.INT = 0;

//接触不良時の制限(0xb0)

// if (train_sou[sou]->speed_ret.INT < 0x4)

// if (train_sou[sou]->speed_cont.INT > 0xb0)

// train_sou[sou]->speed_cont.INT = 0xb0;

//Speedの最大値を制限(0xE8)

if (train_sou[sou]->speed_cont.INT > 0xF8)

train_sou[sou]->speed_cont.INT = 0xF8;

}

void section_change() {

char n;

// if (chg_disable) return;

for (n = 0; n < TR_COUNT; n++) {

if (train[n].STATUS.BIT.CHG == 1) {

//受信データに置き換え

train[n].BEFORE.BYTE = train[n].REC_BEFORE;

train[n].NOW.BYTE = train[n].REC_NOW;

train[n].NEXT.BYTE = train[n].REC_NEXT;

if (cont_train[0] == n) {

cont_train[0] = 0xff;

train_sou[0] = NULL;

}

if (cont_train[1] == n) {

cont_train[1] = 0xff;

train_sou[1] = NULL;

}

if ((train[n].NOW.BIT.ROSEN == ROSEN_NUM)

|| (train[n].NEXT.BIT.ROSEN == ROSEN_NUM)

|| (train[n].BEFORE.BIT.ROSEN == ROSEN_NUM)) {

//各相の列車登録

cont_train[train[n].NOW.BIT.SOU] = n;

train_sou[train[n].NOW.BIT.SOU] = &train[n];

} else {

train[n].speed_cont.INT = 0;

}

train[n].henka = 0;

train[n].STATUS.BIT.CHG = 0;

}

//kukan clr

kukan[0] = 0;

kukan[1] = 0;

}

void board_comm(unsigned char rec_bit) {

unsigned char bit_p;

unsigned int data_p;

data_p = (comm_counter - 1) & 0x3ff;

bit_p = EnableBit[data_p & 7]; //bit位置set

data_p >>= 3;

board_num = data_p;

board_num >>= 4;

#if ROSEN_NUM == 0

//親ボードのみポイントなどのボードに送信

if (!(board_num == ROSEN_NUM || board_num == 6)) {

#else

if (!(board_num == ROSEN_NUM)) {

#endif

//データ受信

_TRISB11 = 1;

if (rec_bit)

receive_data |= bit_p;

else

receive_data &= ~bit_p;

if (bit_p == 0x80) {

comm_data[data_p] = receive_data;

}

//ボード間データ通信

data_p = comm_counter & 0x3ff;

bit_p = EnableBit[data_p & 7]; //bit位置set

data_p >>= 3;

board_num = data_p;

board_num >>= 4;

#if ROSEN_NUM == 0

//親ボードのみポイントなどのボードに送信

if (board_num == ROSEN_NUM || board_num == 6) {

#else

if (board_num == ROSEN_NUM) {

#endif

//データ送信

_TRISB11 = 0;

send_data = comm_data[data_p];

//送信PORTデータセット

if (send_data & bit_p)

_RB11 = 1;

else

_RB11 = 0;

}

void comm_data_set_tx() {

unsigned char n;

unsigned int data_p;

//comm_data 送信データSET

data_p = ROSEN_NUM << 4;

//A相

n = cont_train[0];

if (n != 0xff) {

comm_data[data_p] = n + 0xA0;

comm_data[data_p + 1] = train[n].speed_ret.BYTE.H; //speed_ret_tx

comm_data[data_p + 2] = train[n].speed_ret.BYTE.L;

comm_data[data_p + 3] = train[n].henka;

comm_data[data_p + 4] = train[n].speed_cont.BYTE.H;

comm_data[data_p + 5] = train[n].speed_cont.BYTE.L;

comm_data[data_p + 6] = train[n].NOW.BYTE;

//comm_data[data_p + 7] = debug1.BYTE.L;

} else

comm_data[data_p] = 0xFF;

//B相

n = cont_train[1];

data_p += 0x8;

if (n != 0xff) {

comm_data[data_p] = n + 0xA0;

comm_data[data_p + 1] = train[n].speed_ret.BYTE.H; //speed_ret_tx

comm_data[data_p + 2] = train[n].speed_ret.BYTE.L;

comm_data[data_p + 3] = train[n].henka;

comm_data[data_p + 4] = train[n].speed_cont.BYTE.H;

comm_data[data_p + 5] = train[n].speed_cont.BYTE.L;

comm_data[data_p + 6] = train[n].NOW.BYTE;

} else

comm_data[data_p] = 0xFF;

}

void comm_data_set_rx() {

//受信データSET

unsigned char n;

unsigned int data_p;

for (board_num = 0; board_num < BOARD_COUNT; board_num++) {

if (board_num != ROSEN_NUM) {

//自ボード以外受信

data_p = board_num << 4;

//A相

n = comm_data[data_p];

if ((n & 0xF0) == 0xA0) {

n &= 0xF;

train[n].speed_ret_rx.BYTE.H = comm_data[data_p + 1];

train[n].speed_ret_rx.BYTE.L = comm_data[data_p + 2];

if (train[n].NOW.BIT.ROSEN != ROSEN_NUM) {

if (train[n].NOW.BIT.ROSEN == train[n].BEFORE.BIT.ROSEN)

//現位置および前位置が他路線のとき実スピード受信

train[n].speed_ret.INT = train[n].speed_ret_rx.INT;

}

if (ROSEN_NUM == 0)//Masterボードのみ区間変化受信

if (train[n].NEXT.BIT.ROSEN != 0) {

//NextがMasterボード以外のとき受信

if (train[n].NEXT.BIT.ROSEN == board_num)//次区間のボードの区間変化を受信

train[n].henka = comm_data[data_p + 3];

}

train[n].speed_rx.BYTE.H = comm_data[data_p + 4];

train[n].speed_rx.BYTE.L = comm_data[data_p + 5];

if (train[n].NOW.BIT.ROSEN != ROSEN_NUM) {

if (train[n].NEXT.BIT.ROSEN == ROSEN_NUM)

//ポイント切り替え時次区間でspeed_cont渡し

train[n].speed_cont.INT = train[n].speed_rx.INT;

}

//B相

data_p += 0x8;

n = comm_data[data_p];

if ((n & 0xF0) == 0xA0) {

n &= 0xF;

train[n].speed_ret_rx.BYTE.H = comm_data[data_p + 1];

train[n].speed_ret_rx.BYTE.L = comm_data[data_p + 2];

if (train[n].NOW.BIT.ROSEN != ROSEN_NUM) {

if (train[n].NOW.BIT.ROSEN == train[n].BEFORE.BIT.ROSEN)

//現位置および前位置が他路線のとき実スピード受信

train[n].speed_ret.INT = train[n].speed_ret_rx.INT;

}

if (ROSEN_NUM == 0)//Masterボードのみ区間変化受信

if (train[n].NEXT.BIT.ROSEN != 0) {

//NextがMasterボード以外のとき受信

if (train[n].NEXT.BIT.ROSEN == board_num)//次区間のボードの区間変化を受信

train[n].henka = comm_data[data_p + 3];

}

train[n].speed_rx.BYTE.H = comm_data[data_p + 4];

train[n].speed_rx.BYTE.L = comm_data[data_p + 5];

if (train[n].NOW.BIT.ROSEN != ROSEN_NUM) {

if (train[n].NEXT.BIT.ROSEN == ROSEN_NUM)

//ポイント切り替え時次区間でspeed_cont渡し

train[n].speed_cont.INT = train[n].speed_rx.INT;

}

#if ROSEN_NUM == 0

//point_request

if (point_req) {

if (!comm_data[0x70]) {

//ready

comm_data[0x60] = point_req; //point_data

} else

//busy

if (comm_data[0x60]) {

//リクエストクリア

point_req = 0;

comm_data[0x60] = 0;

}

//yardt_request

if (yard_req) {

if (!comm_data[0x71]) {

//ready

comm_data[0x61] = yard_req; //point_data

} else

//busy

if (comm_data[0x61]) {

//リクエストクリア

yard_req = 0;

comm_data[0x61] = 0;

}

#endif

}

//ポイント制御

void point_cont() {

unsigned char n;

if (!point_req) {

for (n = 0; n < TR_COUNT; n++) {

if ((train[n].point & 0x80) != 0) {

point_req = train[n].point;

train[n].point = 0;

break;

}

//ヤード制御

void yard_cont() {

unsigned char n;

if (!yard_req) {

for (n = 0; n < TR_COUNT; n++) {

if ((train[n].yard & 0x80) != 0) {

yard_req = train[n].yard;

train[n].yard = 0;

break;

}

/* *****************************************************************************

End of File

app.c の void APP_Tasks ( void ) 以下を挿げ替えます。

//
//2021_1106
//
/******************************************************************************
  Function:
    void APP_Tasks ( void )

  Remarks:
    See prototype in app.h.
 */

void ini_train(void);
void train_set(unsigned char, unsigned char, unsigned char, unsigned char, unsigned char);

void APP_Tasks(void) {
    static unsigned char buf_p;

    /* Check the application's current state. */
    switch (appData.state) {
            /* Application's initial state. */
        case APP_STATE_INIT:
        {
            bool appInitialized = true;


            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");
            }


            gnd_level.INT = 0x200;

            DRV_TMR0_Start(); //TimerStart
#if ROSEN_NUM==0
            //DRV_TMR0_Start(); //TimerStart
#else
            //マスターボード以外はEXT_INT
            ext_int_enable = true;
            _TRISB14 = 0;
#endif

            //-----ATC-------
            cont_train[0] = 0xff;
            cont_train[1] = 0xff;

            train_sou[0] = NULL;
            train_sou[1] = NULL;

            ini_train();



            //列車A相
            //            train[0].mascon = 0x18; //スピードを変える時はここを変更
            //            train_set(0, 0, 1, 0, 0); //n,rosen,section,dir,sou

            //列車B相
            //            train[1].mascon = 0x1c; //スピードを変える時はここを変更
            //            train_set(1, 0, 5, 0, 1); //n,rosen,section,dir,sou


            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);
            }

            chg_disable = 0; //INT中の変更禁止

            if (rx_data[1] == 0xAA) {
                //ヘッダー正常(0x55 0xAA)
                time_out.INT = count;

                for (n = 0; n < TR_COUNT; n++) {
                    p = n * RX_DATA_BYTE + 2;
                    train[n].mascon = rx_data[p];
                    train[n].speed = train[n].mascon;
                    train[n].REC_NOW = rx_data[p + 1];
                    train[n].REC_BEFORE = rx_data[p + 2];
                    train[n].REC_NEXT = rx_data[p + 3];
                    train[n].err_th = 0x10;

                    //区間変更フラグクリア
                    if (rx_data[p + 4] & 1) {
                        train[n].STATUS.BIT.CHG = 1;
                    }

                    //安全フラグ
                    if (rx_data[p + 4] & 0x80)
                        train[n].STATUS.BIT.SAFE = 0x1;
                    else
                        train[n].STATUS.BIT.SAFE = 0;

                    //MANU SPEED
                    if (rx_data[p + 4] & 0b10) {
                        train[n].STATUS.BIT.SP_MANU = 0x1;
                        train[n].speed = train[n].mascon * 0xE8 / 100;
                    } else
                        train[n].STATUS.BIT.SP_MANU = 0;



                    //point_request
                    if (rx_data[p + 5])
                        train[n].point = rx_data[p + 5];
                    //yard_request
                    if (rx_data[p + 6])
                        train[n].yard = rx_data[p + 6];


                }
                chg_disable = 0; //INT中の変更可
                
                //オシロスコープ用TRG
                osc_trg.BYTE.H = rx_data[100];
                osc_trg.BYTE.L = rx_data[101];


                //232送信
                tx_data[0] = 0x55; //ヘッダー0x55,0xAA
                tx_data[1] = 0xAA;

                for (n = 0; n < TR_COUNT; n++) {
                    p = n * TX_DATA_BYTE + 2;
                    //区間変化情報の送信
                    tx_data[p + 2] = train[n].henka;
                    tx_data[p + 3] = train[n].point;
                    tx_data[p + 4] = train[n].yard;

                    //スピード読み取り値の送信


                    if (train[n].NOW.BIT.ROSEN == ROSEN_NUM) {
                        tx_data[p] = train[n].speed_ret.BYTE.H;
                        tx_data[p + 1] = train[n].speed_ret.BYTE.L;
                        tx_data[p + 5] = train[n].speed_cont.BYTE.H;
                        tx_data[p + 6] = train[n].speed_cont.BYTE.L;
                    } else {
                        //他のボードのときcomm_dataのcont_speedを送る
                        tx_data[p] = train[n].speed_ret_rx.BYTE.H;
                        tx_data[p + 1] = train[n].speed_ret_rx.BYTE.L;
                        tx_data[p + 5] = train[n].speed_rx.BYTE.H;
                        tx_data[p + 6] = train[n].speed_rx.BYTE.L;
                    }
                }



                for (n = 0; n < 128; n++) {
                    tx_data[100 + n] = comm_data[n];
                }

                //Degug
                tx_data[100 + 0x30] = 55;
                if (train_sou[0]) tx_data[100 + 0x31] = train_sou[0]->STATUS.BYTE;
                else tx_data[100 + 0x31] = 0xff;
                if (train_sou[1]) tx_data[100 + 0x32] = train_sou[1]->STATUS.BYTE;
                else tx_data[100 + 0x32] = 0xff;


                // 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]);
                }

            }


            BSP_DelayMs(20);


            //Debug用LCD表示
            LCD_posyx(0, 0);

            LCD_hex(debug1.BYTE.H);
            LCD_hex(debug1.BYTE.L);
            LCD_hex(debug2.BYTE.H);
            LCD_hex(debug2.BYTE.L);
            //            LCD_hex(train[0].henka);
            union byte_access err_abs;
            err_abs.INT = err_avr[0].INT;
            if (err_abs.INT < 0)err_abs.INT = -err_abs.INT;

            //LCD_hex(err_abs.BYTE.H);
            //LCD_hex(err_abs.BYTE.L);


            //LCD_str(" ");
            LCD_hex(timer_value.BYTE.H);
            LCD_hex(timer_value.BYTE.L);
            //
            //            if (err_abs.INT < train[0].err_th)
            //                LCD_str(" OFF ");
            //            else
            //                LCD_str(" ON  ");

            LCD_posyx(1, 0);
            LCD_hex(train[0].NOW.BYTE);
            LCD_hex(train[0].NEXT.BYTE);

            LCD_hex(train[1].NOW.BYTE);
            LCD_hex(train[1].NEXT.BYTE);

            break;
        }
            /* TODO: implement your application state machine.*/


            /* The default state should never be executed. */
        default:
        {
            /* TODO: Handle error in application's state machine. */
            break;
        }
    }
}

void ini_train() {
    char n;

    for (n = 0; n < TR_COUNT; 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) {
    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].BEFORE.BYTE = train[n].NOW.BYTE;
    train[n].NEXT.BYTE = train[n].NOW.BYTE;
    train[n].ANEXT.BYTE = train[n].NOW.BYTE;

    if (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 = 0;
    train[n].STATUS.BIT.SAFE = 1;

}


/*******************************************************************************
 End of File
 */

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//2021_1106

/******************************************************************************

Function:

void APP_Tasks ( void )

Remarks:

See prototype in app.h.

void ini_train(void);

void train_set(unsigned char, unsigned char, unsigned char, unsigned char, unsigned char);

void APP_Tasks(void) {

static unsigned char buf_p;

/* Check the application's current state. */

switch (appData.state) {

/* Application's initial state. */

case APP_STATE_INIT:

{

bool appInitialized = true;

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");

}

gnd_level.INT = 0x200;

DRV_TMR0_Start(); //TimerStart

#if ROSEN_NUM==0

//DRV_TMR0_Start(); //TimerStart

#else

//マスターボード以外はEXT_INT

ext_int_enable = true;

_TRISB14 = 0;

#endif

//-----ATC-------

cont_train[0] = 0xff;

cont_train[1] = 0xff;

train_sou[0] = NULL;

train_sou[1] = NULL;

ini_train();

//列車A相

// train[0].mascon = 0x18; //スピードを変える時はここを変更

// train_set(0, 0, 1, 0, 0); //n,rosen,section,dir,sou

//列車B相

// train[1].mascon = 0x1c; //スピードを変える時はここを変更

// train_set(1, 0, 5, 0, 1); //n,rosen,section,dir,sou

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);

}

chg_disable = 0; //INT中の変更禁止

if (rx_data[1] == 0xAA) {

//ヘッダー正常(0x55 0xAA)

time_out.INT = count;

for (n = 0; n < TR_COUNT; n++) {

p = n * RX_DATA_BYTE + 2;

train[n].mascon = rx_data[p];

train[n].speed = train[n].mascon;

train[n].REC_NOW = rx_data[p + 1];

train[n].REC_BEFORE = rx_data[p + 2];

train[n].REC_NEXT = rx_data[p + 3];

train[n].err_th = 0x10;

//区間変更フラグクリア

if (rx_data[p + 4] & 1) {

train[n].STATUS.BIT.CHG = 1;

}

//安全フラグ

if (rx_data[p + 4] & 0x80)

train[n].STATUS.BIT.SAFE = 0x1;

else

train[n].STATUS.BIT.SAFE = 0;

//MANU SPEED

if (rx_data[p + 4] & 0b10) {

train[n].STATUS.BIT.SP_MANU = 0x1;

train[n].speed = train[n].mascon * 0xE8 / 100;

} else

train[n].STATUS.BIT.SP_MANU = 0;

//point_request

if (rx_data[p + 5])

train[n].point = rx_data[p + 5];

//yard_request

if (rx_data[p + 6])

train[n].yard = rx_data[p + 6];

}

chg_disable = 0; //INT中の変更可

//オシロスコープ用TRG

osc_trg.BYTE.H = rx_data[100];

osc_trg.BYTE.L = rx_data[101];

//232送信

tx_data[0] = 0x55; //ヘッダー0x55,0xAA

tx_data[1] = 0xAA;

for (n = 0; n < TR_COUNT; n++) {

p = n * TX_DATA_BYTE + 2;

//区間変化情報の送信

tx_data[p + 2] = train[n].henka;

tx_data[p + 3] = train[n].point;

tx_data[p + 4] = train[n].yard;

//スピード読み取り値の送信

if (train[n].NOW.BIT.ROSEN == ROSEN_NUM) {

tx_data[p] = train[n].speed_ret.BYTE.H;

tx_data[p + 1] = train[n].speed_ret.BYTE.L;

tx_data[p + 5] = train[n].speed_cont.BYTE.H;

tx_data[p + 6] = train[n].speed_cont.BYTE.L;

} else {

//他のボードのときcomm_dataのcont_speedを送る

tx_data[p] = train[n].speed_ret_rx.BYTE.H;

tx_data[p + 1] = train[n].speed_ret_rx.BYTE.L;

tx_data[p + 5] = train[n].speed_rx.BYTE.H;

tx_data[p + 6] = train[n].speed_rx.BYTE.L;

}

for (n = 0; n < 128; n++) {

tx_data[100 + n] = comm_data[n];

}

//Degug

tx_data[100 + 0x30] = 55;

if (train_sou[0]) tx_data[100 + 0x31] = train_sou[0]->STATUS.BYTE;

else tx_data[100 + 0x31] = 0xff;

if (train_sou[1]) tx_data[100 + 0x32] = train_sou[1]->STATUS.BYTE;

else tx_data[100 + 0x32] = 0xff;

// 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]);

}

BSP_DelayMs(20);

//Debug用LCD表示

LCD_posyx(0, 0);

LCD_hex(debug1.BYTE.H);

LCD_hex(debug1.BYTE.L);

LCD_hex(debug2.BYTE.H);

LCD_hex(debug2.BYTE.L);

// LCD_hex(train[0].henka);

union byte_access err_abs;

err_abs.INT = err_avr[0].INT;

if (err_abs.INT < 0)err_abs.INT = -err_abs.INT;

//LCD_hex(err_abs.BYTE.H);

//LCD_hex(err_abs.BYTE.L);

//LCD_str(" ");

LCD_hex(timer_value.BYTE.H);

LCD_hex(timer_value.BYTE.L);

// if (err_abs.INT < train[0].err_th)

// LCD_str(" OFF ");

// else

// LCD_str(" ON ");

LCD_posyx(1, 0);

LCD_hex(train[0].NOW.BYTE);

LCD_hex(train[0].NEXT.BYTE);

LCD_hex(train[1].NOW.BYTE);

LCD_hex(train[1].NEXT.BYTE);

break;

}

/* TODO: implement your application state machine.*/

/* The default state should never be executed. */

default:

{

/* TODO: Handle error in application's state machine. */

break;

}

void ini_train() {

char n;

for (n = 0; n < TR_COUNT; 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) {

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].BEFORE.BYTE = train[n].NOW.BYTE;

train[n].NEXT.BYTE = train[n].NOW.BYTE;

train[n].ANEXT.BYTE = train[n].NOW.BYTE;

if (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 = 0;

train[n].STATUS.BIT.SAFE = 1;

}

/*******************************************************************************

End of File

system_interrupt.cの編集

上がExternalInterruptの割り込みで、下がTimerInterruptの割り込みです。

各部にtimer_int_func()を追加します。

//
//
void __ISR(_EXTERNAL_1_VECTOR, IPL6UTO) _IntHandlerExternalInterruptInstance0(void) {
    PLIB_INT_SourceFlagClear(INT_ID_0, INT_SOURCE_EXTERNAL_1);

    if (ext_int_enable)
        timer_int_func();
}

void __ISR(_TIMER_1_VECTOR, ipl7AUTO) IntHandlerDrvTmrInstance0(void) {
    PLIB_INT_SourceFlagClear(INT_ID_0, INT_SOURCE_TIMER_1);
    
        timer_int_func();
}
/*******************************************************************************
End of File
 */

void __ISR(_EXTERNAL_1_VECTOR, IPL6UTO) _IntHandlerExternalInterruptInstance0(void) {

PLIB_INT_SourceFlagClear(INT_ID_0, INT_SOURCE_EXTERNAL_1);

if (ext_int_enable)

timer_int_func();

}

void __ISR(_TIMER_1_VECTOR, ipl7AUTO) IntHandlerDrvTmrInstance0(void) {

PLIB_INT_SourceFlagClear(INT_ID_0, INT_SOURCE_TIMER_1);

timer_int_func();

}

/*******************************************************************************

End of File

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