PIC32コード（ＭＣＣ）

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//
//
//atc.h
//
#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 0x700      //3C0 timer piriod 380 0x780

void LCD_int(void);
void LCD_str(char *);
void LCD_dat(char);
void LCD_hex(unsigned char);
void LCD_dec(int);
void LCD_posyx(char, char);

void BSP_DelayMs(unsigned short);
void BSP_DelayUs(unsigned short);

void timer_int_func(void);
void timer2_int_func(char);

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 CHG_AKG : 1; //区間変化確認
    unsigned char DUMY : 2; //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;

};



//extern union byte_access speed_cont;
extern struct st_position train[]; //列車位置情報
extern struct st_position* train_sou[2];
extern unsigned char cont_train[2]; //制御する列車番号
extern union byte_access debug1; //ADC値
extern union byte_access debug2; //ADC値
extern union byte_access gnd_level;
extern unsigned char comm_data[128]; //通信用メモリ

extern union byte_access int_count1;
extern union byte_access int_count2;

extern unsigned char chg_disable;

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//atc.h

#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 0x700 //3C0 timer piriod 380 0x780

void LCD_int(void);

void LCD_str(char *);

void LCD_dat(char);

void LCD_hex(unsigned char);

void LCD_dec(int);

void LCD_posyx(char, char);

void BSP_DelayMs(unsigned short);

void BSP_DelayUs(unsigned short);

void timer_int_func(void);

void timer2_int_func(char);

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 CHG_AKG : 1; //区間変化確認

unsigned char DUMY : 2; //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;

};

//extern union byte_access speed_cont;

extern struct st_position train[]; //列車位置情報

extern struct st_position* train_sou[2];

extern unsigned char cont_train[2]; //制御する列車番号

extern union byte_access debug1; //ADC値

extern union byte_access debug2; //ADC値

extern union byte_access gnd_level;

extern unsigned char comm_data[128]; //通信用メモリ

extern union byte_access int_count1;

extern union byte_access int_count2;

extern unsigned char chg_disable;

//
//
//lcd.c
//
#include "definitions.h"

#define ADR 0x3E//7c

void LCD_cmd(char);
void LCD_int(void);
void LCD_str(char *);
void LCD_dat(char);
void LCD_hex(unsigned 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 += (CPU_CLOCK_FREQUENCY / 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 += (CPU_CLOCK_FREQUENCY / 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;

    I2C1_Write(ADR, &data[0], 2);
    while (I2C1_IsBusy() == true);
    //    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;
    //bool I2C1_Write(uint16_t address, uint8_t* wdata, size_t wlength)


    //I2C送信
    I2C1_Write(ADR, &data[0], 2);
    while (I2C1_IsBusy() == true);
    //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(unsigned 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 dec_ch[] = "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(dec_ch[(int) n[2]]);
    LCD_dat(dec_ch[(int) n[1]]);
    LCD_dat(dec_ch[(int) n[0]]);


}
//-------- カーソル位置指定 --------------------------------------

void LCD_posyx(char ypos, char xpos) {
    unsigned char pcode = 0;
    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
}

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//lcd.c

#include "definitions.h"

#define ADR 0x3E//7c

void LCD_cmd(char);

void LCD_int(void);

void LCD_str(char *);

void LCD_dat(char);

void LCD_hex(unsigned 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 += (CPU_CLOCK_FREQUENCY / 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 += (CPU_CLOCK_FREQUENCY / 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;

I2C1_Write(ADR, &data[0], 2);

while (I2C1_IsBusy() == true);

// 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;

//bool I2C1_Write(uint16_t address, uint8_t* wdata, size_t wlength)

//I2C送信

I2C1_Write(ADR, &data[0], 2);

while (I2C1_IsBusy() == true);

//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(unsigned 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 dec_ch[] = "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(dec_ch[(int) n[2]]);

LCD_dat(dec_ch[(int) n[1]]);

LCD_dat(dec_ch[(int) n[0]]);

}

//-------- カーソル位置指定 --------------------------------------

void LCD_posyx(char ypos, char xpos) {

unsigned char pcode = 0;

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

}

//
//
//timer_int.c
//
#include "definitions.h"
#include "atc.h"

void kukan_ON(unsigned char, unsigned char);
void section_change(void);
void set_on_section(unsigned char, unsigned char);
void set_on_next_section(unsigned char, unsigned char);
void timer2_int_func(char);
void PulseOffTimer_start(char);
void board_comm(unsigned char);
void comm_data_set_tx();
void comm_data_set_rx();
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 point_cont(void);
void yard_cont(void);

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;
union byte_access int_count1;
union byte_access int_count2;
unsigned char both_off;
int sp_w1;
int sp_w2;
unsigned char send_flg; //送信BIT用

void timer_int_func() {
    unsigned char rec_bit; //受信BIT用

    rec_bit = _RB11;

    TRISBSET = _PORTB_RB11_MASK;

#if ROSEN_NUM==0
    PORTBCLR = _PORTB_RB10_MASK; //ext_int 同期パルス(master board))

#else
    //PORTBSET = _PORTB_RB14_MASK;
    //DRV_TMR0_CounterValueSet(96);
    TMR1 = 96;
    TMR1_Start(); //PULSE OFF TimerStart
#endif
    //    kukan_ON(1, 0);
    //    kukan_ON(0, 0);


    //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;
        //PORTACLR = _PORTA_RA2_MASK;
    } else {
#if ROSEN_NUM==0
        PORTBSET = _PORTB_RB10_MASK;
#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;
        PORTBSET = _PORTB_RB14_MASK; //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 & 0xff; //1ff

    //PORTASET = _PORTA_RA2_MASK;
    TRISB |= 0x10ff; //


    unsigned int t1 = 0x30; //0x62
    sp_w1 = speed_pw[0];
    sp_w2 = speed_pw[1];
    //    sp_w1 = train[0].speed * 1920 / 128;
    //    sp_w2 = train[1].speed * 1920 / 128;

    if (sp_w1 > t1) sp_w1 -= t1;
    if (sp_w2 > t1) sp_w2 -= t1;

    if (!same_dir_mode) {
        if (int_counter >= 0x8 && int_counter < 0x80) {//10-100
            //正転側区間ＯＮ
            kukan_ON(0, 0);
            kukan_ON(1, 0);
        } else if (int_counter >= 0x88 && int_counter <= 0xff) {//110-1ff
            //逆転側PWM ON
            kukan_ON(0, 1);
            kukan_ON(1, 1);
        }
    } else {
        //-----同方向-----
        if (int_counter >= 0x8 && int_counter < 0x80) {//10-100
            //
            kukan_ON(0, same_dir);
            kukan_ON(1, same_dir);
        }
        //        else {
        //            if (int_counter >= 0x88) {//110
        //                if (int_counter <= (ext_pwr[0] + 0x87)) {//10f
        //                    kukan_ON(0, same_dir);
        //                }
        //                if (int_counter <= (ext_pwr[1] + 0x87)) {//10f
        //                    kukan_ON(1, same_dir);
        //                }
        //            }
        //        }
    }

    section1 = kukan[0];
    section2 = kukan[1];


    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 0xA://12
        case 0xb:
        case 0xc:
            //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);
            }

            if (!same_dir_mode) {
                section_change_monitor(1, 0);
            } else {
                section_change_monitor(1, same_dir);
            }

            break;

            //        case 0xB://13
            //            //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 0xD://15
            //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 0x80://100
            //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 0x111:
        case 0x8A://112
        case 0x8B:
        case 0x8C:
            //区間変化監視
            if (!same_dir_mode) {
                section_change_monitor(0, 1);
            }
            if (!same_dir_mode) {
                section_change_monitor(1, 1);
            }


            break;
            //
            //        case 0x8B://113
            //            //区間変化監視
            //            if (!same_dir_mode) {
            //                section_change_monitor(1, 1);
            //            }
            //            break;

        case 0x8D://115
            //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 >= 0x4 && int_counter < 0x8) {//8-f
            read_generated_voltage(int_counter & 1, 1);
        }
        if (int_counter >= 0x84 && int_counter < 0x88) {//108-10f
            read_generated_voltage(int_counter & 1, 0);
        }
    } else {//same_dir_mode
        if (int_counter >= 0x4 && int_counter < 0x8) {
            read_generated_voltage(int_counter & 1, 1);
        }
        if (int_counter >= 0xf0 && int_counter < 0xf8) {//1e8-1ef
            read_generated_voltage(int_counter & 1, 0);
        }
    }
    //BSP_DelayUs(5);

    //TRISB |= kukan[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;

    }


    board_comm(rec_bit); //ボード間の通信

#if ROSEN_NUM==0
    //幅広同期パルスOFF
    if (comm_counter == 0) {
        PORTBSET = _PORTB_RB10_MASK;
    }
#endif
    //    uint16_t sw1 = TMR1_CounterGet(); //t1=959
    //        if (speed < sw1) {
    //            //timer_int_func2(); //pulse off
    //        } else {
    //            sw1 = speed - sw1;
    //            TMR2_PeriodSet(sw1);
    //            TMR2_Start();
    //        }
    PORTBCLR = _PORTB_RB14_MASK;

    //    section1 = kukan[0];
    //    section2 = kukan[1];

    timer_value.INT = TMR1_CounterGet();
    int w1 = sp_w1 - timer_value.INT;
    int w2 = sp_w2 - timer_value.INT;


    both_off = 0;

#define delay1 250 //このTimer0インタラプトが終わるまで待機する時間

    if (w1 > delay1 && w2 > delay1) {
        if (abs(w2 - w1) < 250) {
            //2列車のSpeedPulse幅の差がないときはどちらか早いほうのTimerでPulseOFF
            both_off = 1;
            if (w1 < w2) {
                PulseOffTimer_start(0);
            } else {
                PulseOffTimer_start(1);
            }
        } else {
            PulseOffTimer_start(0);
            PulseOffTimer_start(1);
        }
    } else {
        if (w1 > delay1) {
            PulseOffTimer_start(0);
        } else {
            timer2_int_func(0); //speed pulse短いときはここでOFF
            //debug1.INT = 0xff00;
        }

        if (w2 > delay1) {
            PulseOffTimer_start(1);
        } else {
            timer2_int_func(1); //speed pulse短いときはここでOFF
            //debug1.INT = 0xff00;
        }
    }


    if (send_flg)
        TRISBCLR = _PORTB_RB11_MASK;

}

void PulseOffTimer_start(char s) {
    int w;

    if (s == 0) {
        w = sp_w1 - TMR1_CounterGet();
        TMR2_PeriodSet(w);
        TMR2_Start(); //PULSE OFF TimerStart
        int_count1.INT++;
    } else {
        w = sp_w2 - TMR1_CounterGet();
        TMR3_PeriodSet(w);
        TMR3_Start(); //PULSE OFF TimerStart
        int_count2.INT++;
    }
}

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 timer_int_func2() {

    //TMR1_InterruptDisable();
    PORTBSET = _PORTB_RB11_MASK;
    BSP_DelayUs(.2);
    PORTBCLR = _PORTB_RB11_MASK;
    TMR2_Stop();

    TRISB |= kukan[0];
    //TMR1_InterruptEnable();
}

//pulse off用インタラプトFunction

void timer2_int_func(char s) {

    if (s == 0) {//TM1
        if (section1) TRISB |= section1;
        TMR2_Stop();

        if (both_off) {//2列車のSpeedPulse幅の差がないときはどちらか早いほうのTimerでPulseOFF
            do {
                timer_value.INT = TMR1_CounterGet();
            } while (timer_value.INT < sp_w2);
            if (section2) TRISB |= section2;
        }

    } else {//TM2
        if (section2) TRISB |= section2;
        TMR3_Stop();

        if (both_off) {//2列車のSpeedPulse幅の差がないときはどちらか早いほうのTimerでPulseOFF
            do {
                timer_value.INT = TMR1_CounterGet();
            } while (timer_value.INT < sp_w1);
            if (section1) TRISB |= section1;
        }
    }

}

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

    for (n = 0; n < TR_COUNT; n++) {
        if (1) {//train[n].STATUS.BIT.CHG_AKG == 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_sou[0])
            //            if (train_sou[0] == &train[n])
            //                train_sou[0] = NULL;
            //
            //            //if (train_sou[1])
            //            if (train_sou[1] == &train[n])
            //                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;
            }


            if (train[n].STATUS.BIT.CHG_AKG == 1) {
                train[n].henka = 0;
                //train[n].STATUS.BIT.CHG = 0;
                train[n].STATUS.BIT.CHG_AKG = 0;
            }


        }
        //        //区間変更確認
        //        if (train[n].STATUS.BIT.CHG_AKG) {
        //            train[n].henka = 0;
        //            train[n].STATUS.BIT.CHG_AKG = 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 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;
            }

        }
    } else {
        speed_pw[sou] = 0;
    }

}

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];
                }
            }
        }
    }
}

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

    send_flg = 0;

    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
    //他のボードのみ受信
    if (!(board_num == ROSEN_NUM || board_num == 6 || board_num == 5)) {//test5
#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_flg = 1;

        send_data = comm_data[data_p];

        //送信PORTデータセット
        if (send_data & bit_p) {
            LATBSET = _PORTB_RB11_MASK;
            //_RB11 = 1;
        } else {
            LATBCLR = _PORTB_RB11_MASK;
            //_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

}

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;
                        ADC_SamplingStart();
                        while (!ADC_ResultIsReady());
                        adc_ret.INT = ADC_ResultGet(0);
                        //                        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) {
                                    comm_data[0x50] = adc_ret.BYTE.H;
                                    comm_data[0x51] = adc_ret.BYTE.L;
                                }


                            }
                            //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) {
                                    comm_data[0x50] = adc_ret.BYTE.H;
                                    comm_data[0x51] = adc_ret.BYTE.L;
                                }

                            }

                            //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

    unsigned 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
        ADC_SamplingStart();
        while (!ADC_ResultIsReady());
        adc_ret.INT = ADC_ResultGet(0);
        //        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;
    unsigned 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

#define d_zero -20
    if (train_sou[sou]->speed == 0) {
        cont_t = 2; //減速早く 2
        if (d > d_zero)//-3
            d = d_zero; //-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] < 0x60) {//c0
            if ((count_avr[sou] & 0xf) == 0) ext_pwr[sou]++;
        }
    } else {
        if (ext_pwr[sou] > 0) {
            ext_pwr[sou]--;
        }
    }

    //ext_pwr[sou] = 0; //test

}

//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;
            }
        }
    }
}

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//timer_int.c

#include "definitions.h"

#include "atc.h"

void kukan_ON(unsigned char, unsigned char);

void section_change(void);

void set_on_section(unsigned char, unsigned char);

void set_on_next_section(unsigned char, unsigned char);

void timer2_int_func(char);

void PulseOffTimer_start(char);

void board_comm(unsigned char);

void comm_data_set_tx();

void comm_data_set_rx();

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 point_cont(void);

void yard_cont(void);

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;

union byte_access int_count1;

union byte_access int_count2;

unsigned char both_off;

int sp_w1;

int sp_w2;

unsigned char send_flg; //送信BIT用

void timer_int_func() {

unsigned char rec_bit; //受信BIT用

rec_bit = _RB11;

TRISBSET = _PORTB_RB11_MASK;

#if ROSEN_NUM==0

PORTBCLR = _PORTB_RB10_MASK; //ext_int 同期パルス(master board))

#else

//PORTBSET = _PORTB_RB14_MASK;

//DRV_TMR0_CounterValueSet(96);

TMR1 = 96;

TMR1_Start(); //PULSE OFF TimerStart

#endif

// kukan_ON(1, 0);

// kukan_ON(0, 0);

//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;

//PORTACLR = _PORTA_RA2_MASK;

} else {

#if ROSEN_NUM==0

PORTBSET = _PORTB_RB10_MASK;

#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;

PORTBSET = _PORTB_RB14_MASK; //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 & 0xff; //1ff

//PORTASET = _PORTA_RA2_MASK;

TRISB |= 0x10ff; //

unsigned int t1 = 0x30; //0x62

sp_w1 = speed_pw[0];

sp_w2 = speed_pw[1];

// sp_w1 = train[0].speed * 1920 / 128;

// sp_w2 = train[1].speed * 1920 / 128;

if (sp_w1 > t1) sp_w1 -= t1;

if (sp_w2 > t1) sp_w2 -= t1;

if (!same_dir_mode) {

if (int_counter >= 0x8 && int_counter < 0x80) {//10-100

//正転側区間ＯＮ

kukan_ON(0, 0);

kukan_ON(1, 0);

} else if (int_counter >= 0x88 && int_counter <= 0xff) {//110-1ff

//逆転側PWM ON

kukan_ON(0, 1);

kukan_ON(1, 1);

}

} else {

//-----同方向-----

if (int_counter >= 0x8 && int_counter < 0x80) {//10-100

kukan_ON(0, same_dir);

kukan_ON(1, same_dir);

}

// else {

// if (int_counter >= 0x88) {//110

// if (int_counter <= (ext_pwr[0] + 0x87)) {//10f

// kukan_ON(0, same_dir);

// }

// if (int_counter <= (ext_pwr[1] + 0x87)) {//10f

// kukan_ON(1, same_dir);

// }

}

section1 = kukan[0];

section2 = kukan[1];

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 0xA://12

case 0xb:

case 0xc:

//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);

}

if (!same_dir_mode) {

section_change_monitor(1, 0);

} else {

section_change_monitor(1, same_dir);

}

break;

// case 0xB://13

// //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 0xD://15

//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 0x80://100

//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 0x111:

case 0x8A://112

case 0x8B:

case 0x8C:

//区間変化監視

if (!same_dir_mode) {

section_change_monitor(0, 1);

}

if (!same_dir_mode) {

section_change_monitor(1, 1);

}

break;

// case 0x8B://113

// //区間変化監視

// if (!same_dir_mode) {

// section_change_monitor(1, 1);

// }

// break;

case 0x8D://115

//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 >= 0x4 && int_counter < 0x8) {//8-f

read_generated_voltage(int_counter & 1, 1);

}

if (int_counter >= 0x84 && int_counter < 0x88) {//108-10f

read_generated_voltage(int_counter & 1, 0);

}

} else {//same_dir_mode

if (int_counter >= 0x4 && int_counter < 0x8) {

read_generated_voltage(int_counter & 1, 1);

}

if (int_counter >= 0xf0 && int_counter < 0xf8) {//1e8-1ef

read_generated_voltage(int_counter & 1, 0);

}

//BSP_DelayUs(5);

//TRISB |= kukan[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;

}

board_comm(rec_bit); //ボード間の通信

#if ROSEN_NUM==0

//幅広同期パルスOFF

if (comm_counter == 0) {

PORTBSET = _PORTB_RB10_MASK;

}

#endif

// uint16_t sw1 = TMR1_CounterGet(); //t1=959

// if (speed < sw1) {

// //timer_int_func2(); //pulse off

// } else {

// sw1 = speed - sw1;

// TMR2_PeriodSet(sw1);

// TMR2_Start();

// }

PORTBCLR = _PORTB_RB14_MASK;

// section1 = kukan[0];

// section2 = kukan[1];

timer_value.INT = TMR1_CounterGet();

int w1 = sp_w1 - timer_value.INT;

int w2 = sp_w2 - timer_value.INT;

both_off = 0;

#define delay1 250 //このTimer0インタラプトが終わるまで待機する時間

if (w1 > delay1 && w2 > delay1) {

if (abs(w2 - w1) < 250) {

//2列車のSpeedPulse幅の差がないときはどちらか早いほうのTimerでPulseOFF

both_off = 1;

if (w1 < w2) {

PulseOffTimer_start(0);

} else {

PulseOffTimer_start(1);

}

} else {

PulseOffTimer_start(0);

PulseOffTimer_start(1);

}

} else {

if (w1 > delay1) {

PulseOffTimer_start(0);

} else {

timer2_int_func(0); //speed pulse短いときはここでOFF

//debug1.INT = 0xff00;

}

if (w2 > delay1) {

PulseOffTimer_start(1);

} else {

timer2_int_func(1); //speed pulse短いときはここでOFF

//debug1.INT = 0xff00;

}

if (send_flg)

TRISBCLR = _PORTB_RB11_MASK;

}

void PulseOffTimer_start(char s) {

int w;

if (s == 0) {

w = sp_w1 - TMR1_CounterGet();

TMR2_PeriodSet(w);

TMR2_Start(); //PULSE OFF TimerStart

int_count1.INT++;

} else {

w = sp_w2 - TMR1_CounterGet();

TMR3_PeriodSet(w);

TMR3_Start(); //PULSE OFF TimerStart

int_count2.INT++;

}

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 timer_int_func2() {

//TMR1_InterruptDisable();

PORTBSET = _PORTB_RB11_MASK;

BSP_DelayUs(.2);

PORTBCLR = _PORTB_RB11_MASK;

TMR2_Stop();

TRISB |= kukan[0];

//TMR1_InterruptEnable();

}

//pulse off用インタラプトFunction

void timer2_int_func(char s) {

if (s == 0) {//TM1

if (section1) TRISB |= section1;

TMR2_Stop();

if (both_off) {//2列車のSpeedPulse幅の差がないときはどちらか早いほうのTimerでPulseOFF

do {

timer_value.INT = TMR1_CounterGet();

} while (timer_value.INT < sp_w2);

if (section2) TRISB |= section2;

}

} else {//TM2

if (section2) TRISB |= section2;

TMR3_Stop();

if (both_off) {//2列車のSpeedPulse幅の差がないときはどちらか早いほうのTimerでPulseOFF

do {

timer_value.INT = TMR1_CounterGet();

} while (timer_value.INT < sp_w1);

if (section1) TRISB |= section1;

}

void section_change() {

unsigned char n;

if (chg_disable) return;

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

if (1) {//train[n].STATUS.BIT.CHG_AKG == 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_sou[0])

// if (train_sou[0] == &train[n])

// train_sou[0] = NULL;

// //if (train_sou[1])

// if (train_sou[1] == &train[n])

// 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;

}

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

train[n].henka = 0;

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

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

}

// //区間変更確認

// if (train[n].STATUS.BIT.CHG_AKG) {

// train[n].henka = 0;

// train[n].STATUS.BIT.CHG_AKG = 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 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;

}

} else {

speed_pw[sou] = 0;

}

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];

}

void board_comm(unsigned char rec_bit) {

unsigned char bit_p;

unsigned int data_p;

send_flg = 0;

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

//他のボードのみ受信

if (!(board_num == ROSEN_NUM || board_num == 6 || board_num == 5)) {//test5

#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_flg = 1;

send_data = comm_data[data_p];

//送信PORTデータセット

if (send_data & bit_p) {

LATBSET = _PORTB_RB11_MASK;

//_RB11 = 1;

} else {

LATBCLR = _PORTB_RB11_MASK;

//_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

}

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;

ADC_SamplingStart();

while (!ADC_ResultIsReady());

adc_ret.INT = ADC_ResultGet(0);

// 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) {

comm_data[0x50] = adc_ret.BYTE.H;

comm_data[0x51] = adc_ret.BYTE.L;

}

//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) {

comm_data[0x50] = adc_ret.BYTE.H;

comm_data[0x51] = adc_ret.BYTE.L;

}

//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

unsigned 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

ADC_SamplingStart();

while (!ADC_ResultIsReady());

adc_ret.INT = ADC_ResultGet(0);

// 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;

unsigned 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

#define d_zero -20

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

cont_t = 2; //減速早く 2

if (d > d_zero)//-3

d = d_zero; //-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] < 0x60) {//c0

if ((count_avr[sou] & 0xf) == 0) ext_pwr[sou]++;

}

} else {

if (ext_pwr[sou] > 0) {

ext_pwr[sou]--;

}

//ext_pwr[sou] = 0; //test

}

//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;

}

//
//
//main.c
//

#include <stddef.h>                     // Defines NULL
#include <stdbool.h>                    // Defines true
#include <stdlib.h>                     // Defines EXIT_FAILURE
#include "definitions.h"                // SYS function prototypes
#include "atc.h"

void ini_train(void);
// *****************************************************************************
// *****************************************************************************
// Section: Main Entry Point
// *****************************************************************************
// *****************************************************************************

int main(void) {
    /* Initialize all modules */
    SYS_Initialize(NULL);

#if ROSEN_NUM==0
    TRISBCLR = _PORTB_RB10_MASK; //RB10 output
#else
    TRISBSET = _PORTB_RB10_MASK; //RB10 InPut
    TRISBCLR = _PORTB_RB14_MASK; //RB14
#endif    


    gnd_level.INT = 0x200;

    //I2C1CONSET = _I2C1CON_ON_MASK;
    //LCD初期化
    LCD_int();
    LCD_str("PC_REM");

    TMR1_Start();
    ADC_Enable();

    EVIC_SourceEnable(INT_SOURCE_EXTERNAL_1);

    int c = 0;

    //uint8_t buffer[128];
    uint8_t rx_data[RX_BYTE];
    uint8_t tx_data[TX_BYTE];

    ini_train();
    cont_train[0] = 0xff;
    cont_train[1] = 0xff;

    train_sou[0] = &train[0];
    train_sou[1] = &train[1];

    union byte_access speed;
    //    uint32_t tmr = INTCON; //IPTMR
    //    union byte_access ip_tmr;
    //    ip_tmr.INT = (uint16_t) tmr;

    while (true) {
        /* Maintain state machines of all polled MPLAB Harmony modules. */
        //SYS_Tasks();


        UART1_Read(&rx_data, RX_BYTE);
        while (UART1_ReadIsBusy());

        if (rx_data[0] == 0x55 && rx_data[1] == 0xAA) {
            chg_disable = 1; //変更禁止

            for (int n = 0; n < TR_COUNT; n++) {
                int 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（強制更新）フラグクリア
                if (rx_data[p + 4] & 1) {
                    train[n].STATUS.BIT.CHG = 1;
                }
                //区間変更確認
                if (rx_data[p + 4] & 8) {
                    train[n].STATUS.BIT.CHG_AKG = 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; //変更禁止解除
        } else {
            c++; //error count
        }

        speed.INT = train[0].speed * 960 / 128;

        LCD_posyx(1, 4);
        LCD_hex(speed.BYTE.H);
        LCD_hex(speed.BYTE.L);
        //        LCD_hex(rx_data[0]);
        //        LCD_hex(rx_data[1]);
        LCD_posyx(0, 0);
        //        LCD_hex(debug1.BYTE.H);
        //        LCD_hex(debug1.BYTE.L);
        LCD_hex(int_count1.BYTE.H);
        LCD_hex(int_count1.BYTE.L);
        LCD_hex(int_count2.BYTE.H);
        LCD_hex(int_count2.BYTE.L);

        LCD_posyx(1, 0);
        //LCD_dec(c & 0xff);
        LCD_hex(cont_train[0]);
        LCD_hex(cont_train[1]);
        //BSP_DelayMs(100);
        //232送信
        tx_data[0] = 0x55; //ヘッダー0x55,0xAA
        tx_data[1] = 0xAA;

        for (int n = 0; n < TR_COUNT; n++) {
            int 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
            long speed_byte = 0;

            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;

                speed_byte = train[n].speed_cont.INT * 256;
                speed_byte = speed_byte / SPEED_MAX;
                tx_data[p + 5] = speed_byte / 256;
                tx_data[p + 6] = speed_byte % 256;
            } 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;

                speed_byte = train[n].speed_rx.INT * 256;
                speed_byte = speed_byte / SPEED_MAX;
                tx_data[p + 5] = speed_byte / 256;
                tx_data[p + 6] = speed_byte % 256;
            }



        }



        for (int n = 0; n < 128; n++) {
            tx_data[100 + n] = comm_data[n];
        }
        //tx_data[0x30+100] = 0x55;

        UART1_Write(&tx_data, TX_BYTE);
        while (UART1_WriteIsBusy());



    }

    //DELAY_milliseconds(100);
    /* Execution should not come here during normal operation */

    return ( EXIT_FAILURE);
}

void ini_train() {
    unsigned 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;
    }

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

}



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

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//main.c

#include <stddef.h> // Defines NULL

#include <stdbool.h> // Defines true

#include <stdlib.h> // Defines EXIT_FAILURE

#include "definitions.h" // SYS function prototypes

#include "atc.h"

void ini_train(void);

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

// Section: Main Entry Point

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

int main(void) {

/* Initialize all modules */

SYS_Initialize(NULL);

#if ROSEN_NUM==0

TRISBCLR = _PORTB_RB10_MASK; //RB10 output

#else

TRISBSET = _PORTB_RB10_MASK; //RB10 InPut

TRISBCLR = _PORTB_RB14_MASK; //RB14

#endif

gnd_level.INT = 0x200;

//I2C1CONSET = _I2C1CON_ON_MASK;

//LCD初期化

LCD_int();

LCD_str("PC_REM");

TMR1_Start();

ADC_Enable();

EVIC_SourceEnable(INT_SOURCE_EXTERNAL_1);

int c = 0;

//uint8_t buffer[128];

uint8_t rx_data[RX_BYTE];

uint8_t tx_data[TX_BYTE];

ini_train();

cont_train[0] = 0xff;

cont_train[1] = 0xff;

train_sou[0] = &train[0];

train_sou[1] = &train[1];

union byte_access speed;

// uint32_t tmr = INTCON; //IPTMR

// union byte_access ip_tmr;

// ip_tmr.INT = (uint16_t) tmr;

while (true) {

/* Maintain state machines of all polled MPLAB Harmony modules. */

//SYS_Tasks();

UART1_Read(&rx_data, RX_BYTE);

while (UART1_ReadIsBusy());

if (rx_data[0] == 0x55 && rx_data[1] == 0xAA) {

chg_disable = 1; //変更禁止

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

int 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（強制更新）フラグクリア

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

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

}

//区間変更確認

if (rx_data[p + 4] & 8) {

train[n].STATUS.BIT.CHG_AKG = 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; //変更禁止解除

} else {

c++; //error count

}

speed.INT = train[0].speed * 960 / 128;

LCD_posyx(1, 4);

LCD_hex(speed.BYTE.H);

LCD_hex(speed.BYTE.L);

// LCD_hex(rx_data[0]);

// LCD_hex(rx_data[1]);

LCD_posyx(0, 0);

// LCD_hex(debug1.BYTE.H);

// LCD_hex(debug1.BYTE.L);

LCD_hex(int_count1.BYTE.H);

LCD_hex(int_count1.BYTE.L);

LCD_hex(int_count2.BYTE.H);

LCD_hex(int_count2.BYTE.L);

LCD_posyx(1, 0);

//LCD_dec(c & 0xff);

LCD_hex(cont_train[0]);

LCD_hex(cont_train[1]);

//BSP_DelayMs(100);

//232送信

tx_data[0] = 0x55; //ヘッダー0x55,0xAA

tx_data[1] = 0xAA;

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

int 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

long speed_byte = 0;

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;

speed_byte = train[n].speed_cont.INT * 256;

speed_byte = speed_byte / SPEED_MAX;

tx_data[p + 5] = speed_byte / 256;

tx_data[p + 6] = speed_byte % 256;

} 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;

speed_byte = train[n].speed_rx.INT * 256;

speed_byte = speed_byte / SPEED_MAX;

tx_data[p + 5] = speed_byte / 256;

tx_data[p + 6] = speed_byte % 256;

}

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

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

}

//tx_data[0x30+100] = 0x55;

UART1_Write(&tx_data, TX_BYTE);

while (UART1_WriteIsBusy());

}

//DELAY_milliseconds(100);

/* Execution should not come here during normal operation */

return ( EXIT_FAILURE);

}

void ini_train() {

unsigned 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;

}

train_sou[0] = NULL;

train_sou[1] = NULL;

}

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

End of File

//
//
//config-default
//interrupts.c
//

// *****************************************************************************
// *****************************************************************************
// Section: Included Files
// *****************************************************************************
// *****************************************************************************
#include "interrupts.h"
#include "definitions.h"
#include "../../atc.h"


// *****************************************************************************
// *****************************************************************************
// Section: System Interrupt Vector Functions
// *****************************************************************************
// *****************************************************************************


/* All the handlers are defined here.  Each will call its PLIB-specific function. */
// *****************************************************************************
// *****************************************************************************
// Section: System Interrupt Vector declarations
// *****************************************************************************
// *****************************************************************************
void TIMER_1_Handler(void);
void EXTERNAL_1_Handler(void);
void TIMER_2_Handler(void);
void TIMER_3_Handler(void);
void UART_1_Handler(void);
void I2C_1_Handler(void);


// *****************************************************************************
// *****************************************************************************
// Section: System Interrupt Vector definitions
// *****************************************************************************
// *****************************************************************************

void __ISR(_TIMER_1_VECTOR, ipl7SOFT) TIMER_1_Handler(void) {
    TIMER_1_InterruptHandler();
    //IFS0CLR = _IFS0_T1IF_MASK;
    timer_int_func();
}

void __ISR(_EXTERNAL_1_VECTOR, ipl7SOFT) EXTERNAL_1_Handler(void) {
    EXTERNAL_1_InterruptHandler();
    //IFS0CLR = _IFS0_INT1IF_MASK;
    timer_int_func();
}

void __ISR(_TIMER_2_VECTOR, ipl7SOFT) TIMER_2_Handler(void) {
    TIMER_2_InterruptHandler();
    //IFS0CLR = _IFS0_T2IF_MASK;
    timer2_int_func(0);
    int_count1.INT--;
}

void __ISR(_TIMER_3_VECTOR, ipl7SOFT) TIMER_3_Handler(void) {
    TIMER_3_InterruptHandler();
    //IFS0CLR = _IFS0_T3IF_MASK;
    timer2_int_func(1);
    int_count2.INT--;
}

void __ISR(_UART_1_VECTOR, ipl1SOFT) UART_1_Handler(void) {
    UART_1_InterruptHandler();
}

void __ISR(_I2C_1_VECTOR, ipl1SOFT) I2C_1_Handler(void) {
    I2C_1_InterruptHandler();
}




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

//config-default

//interrupts.c

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

// Section: Included Files

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

#include "interrupts.h"

#include "definitions.h"

#include "../../atc.h"

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

// Section: System Interrupt Vector Functions

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

/* All the handlers are defined here. Each will call its PLIB-specific function. */

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

// Section: System Interrupt Vector declarations

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

void TIMER_1_Handler(void);

void EXTERNAL_1_Handler(void);

void TIMER_2_Handler(void);

void TIMER_3_Handler(void);

void UART_1_Handler(void);

void I2C_1_Handler(void);

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

// Section: System Interrupt Vector definitions

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

void __ISR(_TIMER_1_VECTOR, ipl7SOFT) TIMER_1_Handler(void) {

TIMER_1_InterruptHandler();

//IFS0CLR = _IFS0_T1IF_MASK;

timer_int_func();

}

void __ISR(_EXTERNAL_1_VECTOR, ipl7SOFT) EXTERNAL_1_Handler(void) {

EXTERNAL_1_InterruptHandler();

//IFS0CLR = _IFS0_INT1IF_MASK;

timer_int_func();

}

void __ISR(_TIMER_2_VECTOR, ipl7SOFT) TIMER_2_Handler(void) {

TIMER_2_InterruptHandler();

//IFS0CLR = _IFS0_T2IF_MASK;

timer2_int_func(0);

int_count1.INT--;

}

void __ISR(_TIMER_3_VECTOR, ipl7SOFT) TIMER_3_Handler(void) {

TIMER_3_InterruptHandler();

//IFS0CLR = _IFS0_T3IF_MASK;

timer2_int_func(1);

int_count2.INT--;

}

void __ISR(_UART_1_VECTOR, ipl1SOFT) UART_1_Handler(void) {

UART_1_InterruptHandler();

}

void __ISR(_I2C_1_VECTOR, ipl1SOFT) I2C_1_Handler(void) {

I2C_1_InterruptHandler();

}

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

End of File

//
//
//config-default-peripheral-evic
//plib_exic.c

#include "device.h"
#include "plib_evic.h"
#include "interrupts.h"
#include "atc.h"


volatile static EXT_INT_PIN_CALLBACK_OBJ extInt1CbObj;
// *****************************************************************************
// *****************************************************************************
// Section: IRQ Implementation
// *****************************************************************************
// *****************************************************************************

void EVIC_Initialize( void )
{
    INTCONSET = _INTCON_MVEC_MASK;

    /* Set up priority and subpriority of enabled interrupts */
#if ROSEN_NUM==0
    IPC1SET = 0x1cU | 0x0U;  /* TIMER_1:  Priority 7 / Subpriority 0 */
#else
    IPC1SET = 0x1c000000U | 0x0U;  /* EXTERNAL_1:  Priority 7 / Subpriority 0 */
#endif
    IPC2SET = 0x1cU | 0x0U;  /* TIMER_2:  Priority 7 / Subpriority 0 */
    IPC3SET = 0x1cU | 0x0U;  /* TIMER_3:  Priority 7 / Subpriority 0 */
    IPC8SET = 0x4U | 0x0U;  /* UART_1:  Priority 1 / Subpriority 0 */
    IPC8SET = 0x400U | 0x0U;  /* I2C_1:  Priority 1 / Subpriority 0 */

    /* Initialize External interrupt 1 callback object */
    extInt1CbObj.callback = NULL;

}

//config-default-peripheral-evic

//plib_exic.c

#include "device.h"

#include "plib_evic.h"

#include "interrupts.h"

#include "atc.h"

volatile static EXT_INT_PIN_CALLBACK_OBJ extInt1CbObj;

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

// Section: IRQ Implementation

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

void EVIC_Initialize( void )

{

INTCONSET = _INTCON_MVEC_MASK;

/* Set up priority and subpriority of enabled interrupts */

#if ROSEN_NUM==0

IPC1SET = 0x1cU | 0x0U; /* TIMER_1: Priority 7 / Subpriority 0 */

#else

IPC1SET = 0x1c000000U | 0x0U; /* EXTERNAL_1: Priority 7 / Subpriority 0 */

#endif

IPC2SET = 0x1cU | 0x0U; /* TIMER_2: Priority 7 / Subpriority 0 */

IPC3SET = 0x1cU | 0x0U; /* TIMER_3: Priority 7 / Subpriority 0 */

IPC8SET = 0x4U | 0x0U; /* UART_1: Priority 1 / Subpriority 0 */

IPC8SET = 0x400U | 0x0U; /* I2C_1: Priority 1 / Subpriority 0 */

/* Initialize External interrupt 1 callback object */

extInt1CbObj.callback = NULL;

}