PWM方式変更2
パルスOFFを同じTimer1のインタラプト内で行うと、インタラプトの期間が増えて
メイン処理の時間が減ります。なので、パルスOFFも別のTimerのインタラプトで行うようにします。
Harmonyの変更はTimer2とTimer3の追加です。
timer_int.cの変更
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// // //2022_0423 #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 //timer_value.INT = TMR_Counter16BitGet_In16BitRegister(TMR_ID_1); unsigned int t1 = 0x62; unsigned int sp_w1 = speed_pw[0]; unsigned int sp_w2 = speed_pw[1]; if (sp_w1 > t1) sp_w1 -= t1; if (sp_w2 > t1) sp_w2 -= t1; if (section1) { PLIB_TMR_Period16BitSet(TMR_ID_2, sp_w1); DRV_TMR1_Start(); //PULSE OFF TimerStart } if (section2) { PLIB_TMR_Period16BitSet(TMR_ID_4, sp_w2); DRV_TMR2_Start(); //PULSE OFF TimerStart } if (!same_dir_mode) { 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); } } else { //-----同方向----- if (int_counter >= 0x10 && int_counter < 0x100) { // kukan_ON(0, same_dir); kukan_ON(1, same_dir); } else { if (int_counter >= 0x110) { if (int_counter <= (ext_pwr[0] + 0x10f)) { kukan_ON(0, same_dir); } if (int_counter <= (ext_pwr[1] + 0x10f)) { kukan_ON(1, same_dir); } } } } switch (int_counter) { case 0: section_change(); if (!same_dir_mode) { set_on_section(0, 0); set_on_section(1, 0); } else { set_on_section(0, same_dir); set_on_section(1, same_dir); } break; case 2: speed_cont(0); speed_cont(1); break; case 0x12: //インタラプトカウンタが0x2のときA相の区間変化監視(B相は0x102のとき) if (!same_dir_mode) { section_change_monitor(0, 0); } else { section_change_monitor(0, same_dir); } break; case 0x13: //インタラプトカウンタが0x2のときA相の区間変化監視(B相は0x102のとき) if (!same_dir_mode) { section_change_monitor(1, 0); } else { section_change_monitor(1, same_dir); } break; case 0x15: //インタラプトカウンタが3のときNEXT区間パルスON(B相は0x103のとき) //区間変化確認後に次区間もON if (!same_dir_mode) { set_on_next_section(0, 0); set_on_next_section(1, 0); } else { set_on_next_section(0, same_dir); set_on_next_section(1, same_dir); } break; case 0x100: //インタラプトカウンタが0x100のときB相のspeedパルスON if (!same_dir_mode) { set_on_section(0, 1); set_on_section(1, 1); } break; case 0x112: //区間変化監視 if (!same_dir_mode) { section_change_monitor(0, 1); } break; case 0x113: //区間変化監視 if (!same_dir_mode) { section_change_monitor(1, 1); } break; case 0x115: //区間変化確認後に次区間もON if (!same_dir_mode) { set_on_next_section(0, 1); set_on_next_section(1, 1); } break; } if (!same_dir_mode) { 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); } } else {//same_dir_mode if (int_counter >= 0x8 && int_counter < 0xF) { read_generated_voltage(int_counter & 1, 1); } if (int_counter >= 0x1e8 && int_counter < 0x1eF) { 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; _RB10 = 1; } #endif _RB14 = 0; //OSC section1 = kukan[0]; section2 = kukan[1]; } 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 * SPEED_MAX / 256; //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; } //区間変化でないときGND値とする。 // if (!train_sou[sou]->henka) { // gnd_adc = adc_ret.INT; // // //区間変更なしのときのADC値をGND Levelにします。 // //16回たして4bit右シフトで平均をとります。 // gnd_sum += adc_ret.INT; // if (sum_count++ == 15) { // gnd_level.INT = gnd_sum >> 4; // sum_count = 0; // gnd_sum = 0; // } // // } } } } } } 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 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; err_buff[sou][count_avr[sou]++ & 0xF] = err; //---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 / 16; // 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 / 4; // /10 int d_max = 0x50; //+補正最大値 //int d_max_m = 0x100; //-補正最大値 char cont_t = 10; //制御間隔 //動き出しを早く 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_m)d = -d_max_m; //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 2 if (d>-0x3)//-3 d = -0x3; //-0x3 } 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 if (train_sou[sou]->speed_ret.INT < 0x4) { int contact_fail = SPEED_MAX * 10 / 10; //max/2 if (train_sou[sou]->speed_cont.INT > contact_fail) train_sou[sou]->speed_cont.INT = contact_fail; } //Speedの最大値を制限 if (train_sou[sou]->speed_cont.INT > SPEED_MAX) { train_sou[sou]->speed_cont.INT = SPEED_MAX; } //extra_power if (train_sou[sou]->speed_cont.INT > SPEED_MAX - 0x20) { if (ext_pwr[sou] < 0x80) { if ((count_avr[sou] & 0xf) == 0) ext_pwr[sou]++; } } else { if (ext_pwr[sou] > 0) { ext_pwr[sou]--; } } } 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; //check same dir if (train_sou[0] && train_sou[1]) {//両相ともON? if (train_sou[0]->NOW.BIT.DIR == train_sou[1]->NOW.BIT.DIR) {//same dir? if (same_dir_mode < 0x80 && inc_interval++ > 50) { same_dir_mode++; inc_interval = 0; } same_dir = train_sou[0]->NOW.BIT.DIR; //set dir } else { same_dir_mode = 0; inc_interval = 0; } } else { //one side only if (same_dir_mode < 0x80 && inc_interval++ > 50) { same_dir_mode++; inc_interval = 0; } if (train_sou[0]) { same_dir = train_sou[0]->NOW.BIT.DIR; } if (train_sou[1]) { same_dir = train_sou[1]->NOW.BIT.DIR; } } } 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] = ext_pwr[0]; //same_dir_mode } 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; } } } } //pulse off void timer2_int_func(char s) { if (s == 0) { if (section1) TRISB |= section1; DRV_TMR1_Stop(); } else { if (section2) TRISB |= section2; DRV_TMR2_Stop(); } debug1.INT = section1; } /* ***************************************************************************** End of File */ |
atc.hの変更
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// //2022_0423 #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 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 #define SPEED_MAX 0x380 //3C0 timer piriod //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; unsigned char same_dir; unsigned int ext_time; unsigned char same_dir_mode; unsigned char inc_interval; unsigned int ext_pwr[2]; unsigned char section1; unsigned char section2; |
system_interrupt.cの変更
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// //2022_0423 //以下を最後に追加 void __ISR(_TIMER_2_VECTOR, ipl5AUTO) IntHandlerDrvTmrInstance1(void) { PLIB_INT_SourceFlagClear(INT_ID_0, INT_SOURCE_TIMER_2); timer2_int_func(0); } void __ISR(_TIMER_4_VECTOR, ipl4AUTO) IntHandlerDrvTmrInstance2(void) { PLIB_INT_SourceFlagClear(INT_ID_0, INT_SOURCE_TIMER_4); timer2_int_func(1); } |