--- /dev/null
+# This code depends on make tool being used
+DEPFILES=$(wildcard $(addsuffix .d, ${OBJECTFILES}))
+ifneq (${DEPFILES},)
+include ${DEPFILES}
+endif
--- /dev/null
+#
+# There exist several targets which are by default empty and which can be
+# used for execution of your targets. These targets are usually executed
+# before and after some main targets. They are:
+#
+# .build-pre: called before 'build' target
+# .build-post: called after 'build' target
+# .clean-pre: called before 'clean' target
+# .clean-post: called after 'clean' target
+# .clobber-pre: called before 'clobber' target
+# .clobber-post: called after 'clobber' target
+# .all-pre: called before 'all' target
+# .all-post: called after 'all' target
+# .help-pre: called before 'help' target
+# .help-post: called after 'help' target
+#
+# Targets beginning with '.' are not intended to be called on their own.
+#
+# Main targets can be executed directly, and they are:
+#
+# build build a specific configuration
+# clean remove built files from a configuration
+# clobber remove all built files
+# all build all configurations
+# help print help mesage
+#
+# Targets .build-impl, .clean-impl, .clobber-impl, .all-impl, and
+# .help-impl are implemented in nbproject/makefile-impl.mk.
+#
+# Available make variables:
+#
+# CND_BASEDIR base directory for relative paths
+# CND_DISTDIR default top distribution directory (build artifacts)
+# CND_BUILDDIR default top build directory (object files, ...)
+# CONF name of current configuration
+# CND_ARTIFACT_DIR_${CONF} directory of build artifact (current configuration)
+# CND_ARTIFACT_NAME_${CONF} name of build artifact (current configuration)
+# CND_ARTIFACT_PATH_${CONF} path to build artifact (current configuration)
+# CND_PACKAGE_DIR_${CONF} directory of package (current configuration)
+# CND_PACKAGE_NAME_${CONF} name of package (current configuration)
+# CND_PACKAGE_PATH_${CONF} path to package (current configuration)
+#
+# NOCDDL
+
+
+# Environment
+MKDIR=mkdir
+CP=cp
+CCADMIN=CCadmin
+RANLIB=ranlib
+
+
+# build
+build: .build-post
+
+.build-pre:
+# Add your pre 'build' code here...
+
+.build-post: .build-impl
+# Add your post 'build' code here...
+
+
+# clean
+clean: .clean-post
+
+.clean-pre:
+# Add your pre 'clean' code here...
+
+.clean-post: .clean-impl
+# Add your post 'clean' code here...
+
+
+# clobber
+clobber: .clobber-post
+
+.clobber-pre:
+# Add your pre 'clobber' code here...
+
+.clobber-post: .clobber-impl
+# Add your post 'clobber' code here...
+
+
+# all
+all: .all-post
+
+.all-pre:
+# Add your pre 'all' code here...
+
+.all-post: .all-impl
+# Add your post 'all' code here...
+
+
+# help
+help: .help-post
+
+.help-pre:
+# Add your pre 'help' code here...
+
+.help-post: .help-impl
+# Add your post 'help' code here...
+
+
+
+# include project implementation makefile
+include nbproject/Makefile-impl.mk
+
+# include project make variables
+include nbproject/Makefile-variables.mk
--- /dev/null
+build/default/production/debug_print.o: debug_print.c myuart.h
--- /dev/null
+build/default/production/main.o: main.c myuart.h myspi.h debug_print.h \
+ ublox.h myad.h delay.h ring.h
--- /dev/null
+build/default/production/myad.o: myad.c delay.h myspi.h myad.h
--- /dev/null
+build/default/production/myspi.o: myspi.c myspi.h
--- /dev/null
+build/default/production/myuart.o: myuart.c myuart.h
--- /dev/null
+build/default/production/ring.o: ring.c ring.h
--- /dev/null
+build/default/production/ublox.o: ublox.c ublox.h myuart.h
--- /dev/null
+#include <stdio.h>
+#include "myuart.h"
+
+void PDEBUG(char *buf)
+{
+ uart2_puts( buf );
+}
+
+
+
+
--- /dev/null
+#ifndef __PDEBUG_H__
+#define __PDEBUG_H__
+
+#undef PDEBUG
+
+// リリース時はコメント
+#define DEBUG_PRINT
+
+#ifdef DEBUG_PRINT
+void PDEBUG(char *buf);
+#else
+# define PDEBUG(fmt, args...)
+#endif
+
+#endif
--- /dev/null
+#ifndef __DELAY_H__
+
+#define __DELAY_H__
+
+#include <libpic30.h>
+
+#define FOSC 8000000LL // Clock Freqency Hz
+#define FCY (FOSC/2) // FCY 動作周波数[ Hz ]
+#define delay_us(x) __delay32(((x*FCY)/1000000L)) // delays x us
+#define delay_ms(x) __delay32(((x*FCY)/1000L)) // delays x ms
+
+#endif
--- /dev/null
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--- /dev/null
+/*
+ * File: main.c
+ *
+ * Created on February 9, 2010, 10:53 AM
+ */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <p24FJ64GA004.h>
+#include <libpic30.h>
+//#include <uart.h>
+#include <string.h>
+#include "myuart.h"
+#include "myspi.h"
+#include "debug_print.h"
+#include "ublox.h"
+#include "myad.h"
+#include "delay.h"
+#include "ring.h"
+
+_CONFIG1( JTAGEN_OFF & GCP_OFF & GWRP_OFF & COE_OFF & FWDTEN_OFF & ICS_PGx2 )
+//_CONFIG2( FCKSM_CSDCMD & OSCIOFNC_ON & POSCMOD_OFF & FNOSC_FRC)
+#pragma config FCKSM = CSDCMD, OSCIOFNC = ON, POSCMOD = OFF, FNOSC = FRC, FPBDIV = DIV_8
+
+//#define CPU_CLOCK 10000000 // クロック[ Hz ]
+//#define CPU_PLL 8 // PLL
+//#define CLOCK_FREQUENCY ( ( CPU_CLOCK * CPU_PLL ) / 4 ) // 動作周波数[ Hz ]
+//#define FOSC 4000000L
+// UART2 Debug Port
+#define BAUDRATE2 9600L
+// UART1 GPS
+#define BAUDRATE1 9600L
+
+/*** ADBUF **************************************************/
+#define ADBUF_BYTE 3 // AD 1dataのbyte数
+
+// SPI外部送信用バッファ AD_SAMPLE[Hz]
+static char adbuf[RING_NUM][AD_CHNUM][ADBUF_BYTE*AD_SAMPLE];
+// 1sec平均値
+static long adbuf_1sec[RING_NUM][AD_CHNUM];
+
+inline void adbuf_write(unsigned char buf_no, unsigned char ch, int cnt, long *data)
+{
+ unsigned char *ptr = (unsigned char*)data;
+ unsigned char i;
+ for(i = 0; i < ADBUF_BYTE; i++) {
+ adbuf[buf_no][ch][ADBUF_BYTE*cnt + i] = *(ptr++);
+ }
+}
+inline void adbuf_1sec_write(char buf_no, long *data)
+{
+ memcpy(adbuf_1sec[buf_no], data, sizeof(long) * AD_CHNUM);
+/* char ch;
+ for(ch = 0; ch < AD_CHNUM; ch++)
+ adbuf_1sec[buf_no][ch] = data[ch];
+*/
+}
+
+/*****************************************************/
+
+void test_ublox_rcv_mon(void)
+{
+ unsigned char class, id;
+ unsigned int len;
+ unsigned char payload[128];
+ char sz[128];
+
+ while(1) {
+ ublox_rcv_pkt(&class, &id, &len, payload);
+ sprintf(sz, "CLASS=%02X ID=%02X LEN=%d\r\n", class, id, len);
+ PDEBUG(sz);
+ }
+}
+
+/*
+ * INT1 Int及びSPI1 IntでADのデータを取得する
+ */
+#define ADSTS_IDLE 0
+#define ADSTS_H 1
+#define ADSTS_M 2
+#define ADSTS_L 3
+
+
+static char adint_ch; // 取得中のCH
+static char adint_cnt = 0; // 0〜AD_SAMPLE-1
+static char adint_sts = ADSTS_IDLE;
+static long adint_add[AD_CHNUM]; // 1秒平均用加算
+
+/*
+ * 3byte binary -> signed long
+ * Litte Endian
+ */
+long byte3_to_long(unsigned char *in)
+{
+ long out;
+ unsigned char *ptr = (unsigned char*)&out;
+
+ memcpy(ptr, in, 3);
+// ptr[0] = in[0];
+// ptr[1] = in[1];
+// ptr[2] = in[2];
+
+ if (in[2] & 0x80) {
+ ptr[3] = 0xFF;
+ } else {
+ ptr[3] = 0x00;
+ }
+ return out;
+}
+
+int main(int argc, char** argv) {
+ unsigned int i;
+ // UART2 DebugPort
+ const double Baudrate2 = ( double )FCY / ( 16 * BAUDRATE2 ) - 1;
+ // ボーレートの小数点以下を四捨五入する
+ unsigned int baudrate2 = ( unsigned int )( Baudrate2 + 0.5 );
+ // UART1 GPS
+ const double Baudrate1 = ( double )FCY / ( 16 * BAUDRATE1 ) - 1;
+ // ボーレートの小数点以下を四捨五入する
+ unsigned int baudrate1 = ( unsigned int )( Baudrate1 + 0.5 );
+ char sz[32];
+
+ __builtin_write_OSCCONL(OSCCON & 0xbf); //clear the bit 6 of OSCCONL to unlock Pin Re-map
+
+ // UART1ピン割り当て
+ RPINR18bits.U1RXR = 6; // UART1 RX to RP6
+ RPOR2bits.RP5R = 3; // UART1 TX(3) to RP5
+ // UART2ピン割り当て
+ RPINR19bits.U2RXR = 21; // UART2 RX to RP21
+ RPOR10bits.RP20R = 5; // UART2 TX(5) to RP20
+ // PIC-RDYピン割り当て
+ RPOR12bits.RP25R = 0; // RC9
+
+ // DataOut SPI2 pin config
+ RPINR22bits.SDI2R = 13; // SPI2 RX to RP13
+ RPINR22bits.SCK2R = 23; // SPI2 CLK to RP23
+ RPINR23bits.SS2R = 24; // SPI2 SS to RP24
+ RPOR11bits.RP22R = 10; // SPI1 SDO2(10) to RP22
+ // AD SPI1 pin config
+ RPINR20bits.SDI1R = 18; // SPI1 RX to RP18
+ RPOR8bits.RP16R = 8; // SPI1 SCK1(8) to RP16
+ RPOR8bits.RP17R = 7; // SPI1 SDO1(7) to RP17
+ // TRISx 1=input 0=output
+ TRISA = 0x0000; // PortA RA7,8,9 output
+ // 5432109876543210
+ TRISB = 0b0011000011000000; // PortB RB13(RP13),RB12,RB7,RB6(RP6) input
+ TRISC = 0x01A4; // ポートC RC8(RP24),RC7(RP23),RC5(RP21),RC2(RP18) input
+ CLKDIV = 0; // CPU Peripheral Clock Ratio=1:1
+ AD1PCFG = 0xFFFF; // AN1-12input pin = Digital mode
+
+ // INT1(RP12 RB12) AD DRDY0 Int enable
+ RPINR0bits.INT1R = 12; // RP12(RB12)
+ IPC5bits.INT1IP = 4; // Int1 priority
+ INTCON2bits.INT1EP = 1; // Negative Edge
+// ad_drdy0_intf_clear();
+
+ adint_cnt = 0;
+ ad_cs_dis();
+ // GPS UART1初期設定 BRGH=Standard mode
+ // 9600bps 8bit nonparity 1stop nonflowcnt.
+ // 5432109876543210
+ unsigned int U1MODEvalue = 0b1000100000000000;
+ unsigned int U1STAvalue = 0b0000010000000000;
+// OpenUART1( U1MODEvalue, U1STAvalue, baudrate1);
+ uart1_init( U1MODEvalue, U1STAvalue, baudrate1);
+ // DEBUG UART2初期設定 BRGH=Standard mode
+ // 9600bps 8bit nonparity 1stop nonflowcnt.
+ // 5432109876543210
+ unsigned int U2MODEvalue = 0b1000100000000000;
+ unsigned int U2STAvalue = 0b0000010000000000;
+ uart2_init( U2MODEvalue, U2STAvalue, baudrate2);
+
+
+ spi1_init();
+ spi2_init();
+
+ PDEBUG("START\r\n");
+ puts("START debug\r\n");
+ sprintf(sz, "RPINR20=%04X\r\n", RPINR20);
+ PDEBUG(sz);
+ sprintf(sz, "SPI1CON1=%04X\r\n", SPI1CON1);
+ PDEBUG(sz);
+ sprintf(sz, "SPI1CON2=%04X\r\n", SPI1CON2);
+ PDEBUG(sz);
+ sprintf(sz, "SPI1STAT=%04X\r\n", SPI1STAT);
+ PDEBUG(sz);
+
+ // GPS UART1 受信割り込み許可
+ uart1_rx_int_enable();
+ uart1_set_int_level(4); // 割り込みレベル デフォルト4
+ // DataOut SPI2 割り込み許可
+// spi2_int_enable();
+// spi2_set_int_level(4);
+
+ // 割り込み許可
+ // CPU割り込み優先レベル デフォルト2 ペリフェラルはデフォルト4
+ SRbits.IPL = 2;
+
+ // UBXプロトコルのみにする
+ ublox_rcvbuf_clear();
+ ublox_send_cfg_prt(BAUDRATE1);
+ ublox_rcv_ack();
+ // TimePulse2にAD用クロック出力する
+ ublox_rcvbuf_clear();
+ ublox_send_cfg_tp5_timepulse2();
+ ublox_rcv_ack();
+ // NAV-TIMEUTC出力させる
+ ublox_send_cfg_msg();
+ ublox_rcv_ack();
+
+ // AD初期化
+ ad_reset_dis();
+ ad_start_dis();
+ ad_cs_dis();
+ //
+ ad_reset(); // -AD RESET
+ // WAIT 2^16 AD system clocks
+ delay_ms(100);
+ //
+ ad_cs_init();
+ ad_init();
+ pga_init();
+
+ ring_init();
+ // AD SPI1 割り込み設定のみ 許可しない
+ spi1_intf_clear();
+ spi1_set_int_level(4);
+
+ // INT1割り込み許可
+ IEC1bits.INT1IE = 1; // Int enable
+
+ while(1) {
+ test_ublox_rcv_mon();
+ }
+ i = 0;
+ while(1) {
+ if (ring_read_get() != ring_write_get()) {
+ char ch;
+ for(ch=0; ch<AD_CHNUM; ch++) {
+ sprintf(sz, "%+7ld,", adbuf_1sec[ring_read_get()][ch]);
+ PDEBUG(sz);
+ }
+ PDEBUG("\r\n");
+
+ ring_read_plus();
+ }
+ }
+
+ return (EXIT_SUCCESS);
+}
+
+/*
+ * INT1(RP12) AD DRDY0割り込みハンドラ
+ * Negativ Edge
+ */
+void _ISR _INT1Interrupt(void)
+{
+ IFS1bits.INT1IF = 0;
+ if (!ad_is_drdy0_enable()) {
+ return;
+ }
+// ad_drdy0_intf_set();
+
+ adint_ch = 0;
+ adint_sts = ADSTS_H;
+ if (adint_cnt == 0) {
+ memset(adint_add, 0, sizeof(adint_add));
+ }
+
+ ad_cs(adint_ch); // CSx=L
+ spi1_rx_overrun_clear();
+ // 前に受信したデータをクリア
+ spi1_getc();
+ // SPI割り込みON
+ spi1_intf_clear();
+ spi1_int_enable();
+ // 送信
+ spi1_putc(0);
+}
+/*
+ * AD SPI1 Interrupt Handler
+ */
+void _ISR _SPI1Interrupt(void)
+{
+ static unsigned char in[3];
+ unsigned char c;
+ long l;
+
+ c = spi1_getc();
+// spi1_intf_clear();
+ spi1_rx_overrun_clear();
+//spi1_int_disable();
+//ad_cs_dis();
+//return;
+//c=1;
+ switch(adint_sts) {
+ case ADSTS_H:
+ in[2] = c;
+ adint_sts = ADSTS_M;
+ spi1_putc(0);
+ break;
+ case ADSTS_M:
+ in[1] = c;
+ adint_sts = ADSTS_L;
+ spi1_putc(0);
+ break;
+ case ADSTS_L:
+ // CSx=H
+ ad_cs_dis();
+ in[0] = c;
+ l = byte3_to_long(in);
+ // バッファに書きこみ
+ adbuf_write(ring_write_get(), adint_ch, adint_cnt, &l);
+ // 平均用加算
+ adint_add[adint_ch] += l;
+ // CH進める
+ adint_ch++;
+ if (adint_ch >= AD_CHNUM) {
+ // 全CHデータgetした
+ adint_cnt++;
+ if (adint_cnt >= AD_SAMPLE) {
+ // 1secぶんのデータgetした
+ // 平均してバッファに書きこみ
+ char ch;
+ for(ch = 0; ch < AD_CHNUM; ch++) {
+ adint_add[ch] /= adint_cnt;
+ }
+ // バッファに書きこみ
+ adbuf_1sec_write(ring_write_get(), adint_add);
+ // バッファ書き込み位置＋１
+ ring_write_plus();
+ adint_cnt = 0;
+ }
+ spi1_int_disable(); // SPI割り込みOFF
+ adint_sts = ADSTS_IDLE;
+ } else {
+ // 次のCHへ
+ ad_cs(adint_ch); // CSx=L
+ // 送信
+ spi1_putc(0);
+ adint_sts = ADSTS_H;
+ }
+
+ break;
+ default:
+ spi1_int_disable(); // SPI割り込みOFF
+ adint_sts = ADSTS_IDLE;
+ break;
+ }
+
+}
+
+/*
+ * DataOut SPI2 Interrupt Handler
+ * TX FIFOに1byteの空きが出来ると発生
+ */
+void _ISR _SPI2Interrupt(void)
+{
+static unsigned char spi2c;
+ unsigned char rx;
+ static unsigned int txlen = 512;
+/*
+ while(!spi2_tx_fifo_is_full())
+ spi2_putc(c++);
+ while(!spi2_rx_fifo_is_empty()) {
+ rx = spi2_getc();
+ if (rx == '$') c = 0;
+ }
+*/
+//spi2c = 123;
+// RX FIFOから読み出し
+// while(!spi2_rx_fifo_is_empty() || (!spi2_tx_fifo_is_full() && txlen > 0)) {
+ while(!spi2_rx_fifo_is_empty()) {
+ if (!spi2_rx_fifo_is_empty()) {
+ rx = spi2_getc();
+ if (rx == '$') {
+ spi2c = 0;
+ txlen = 3;
+ }
+ }
+ // TX FIFOに書き込み
+ if (!spi2_tx_fifo_is_full()) {
+ if (txlen > 0) {
+ spi2_putc(spi2c++);
+ txlen--;
+ }
+ }
+ }
+ // オーバーランエラーならばクリアする
+ // spi2_rx_is_overrun()
+ if (SPI2STATbits.SPIROV == 1) SPI2STATbits.SPIROV = 0;
+
+ // TODO:Interrupt Flag@IEC Clear
+}
+/*
+void test_ad1()
+{
+ unsigned char in[3];
+ long l[6];
+ char cs;
+ while(!ad_is_drdy0_enable());
+// PDEBUG("AD\r\n");
+ for(cs=0; cs<6; cs++) {
+ ad_cs(cs);
+ in[2] = ad_spi_rcv();
+ in[1] = ad_spi_rcv();
+ in[0] = ad_spi_rcv();
+ ad_cs_dis();
+ l[cs] = byte3_to_long(in);
+// sprintf(sz, "%02X %02X %02X", in[2], in[1], in[0]);
+// PDEBUG(sz);
+ }
+ for(cs=0; cs<6; cs++) {
+ sprintf(sz, "%+7ld,", l[cs]);
+ PDEBUG(sz);
+ }
+ PDEBUG("\r\n");
+
+}
+ */
+/*
+ * CS0〜15順番にenable
+ */
+void test_ad_cs()
+{
+ int i;
+
+ while(1) {
+ delay_ms(1000);
+ ad_cs(i);
+ i++;
+ if (i >= 16) i = 0;
+ }
+}
+
+/*
+ Dataout SPI2 test
+ */
+void test_spi2()
+{
+ unsigned int c = 0x12;
+ unsigned int rx;
+ unsigned int sts = 0;
+ int i;
+
+ i = SPI2BUF;
+ while(1) {
+ PORTCbits.RC9 = 1;
+ delay_ms(100);
+ PORTCbits.RC9 = 0;
+ delay_ms(900);
+
+// while(spi2_tx_fifo_is_full());
+// spi2_putc(c++);
+// while(spi2_rx_fifo_is_empty());
+// rx = spi2_getc();
+#if 0
+ while(spi2STATbits.SPIRBF == 0);
+ sts = spi2STAT;
+ if (spi2STATbits.SPITBF == 0) {
+ spi2BUF = c++;
+ }
+// while(spi2STATbits.SPIRBF == 1) {
+ i = spi2BUF;
+// }
+ if (i == '$') {
+ c = 0;
+ }
+ if (spi2STATbits.SPIROV == 1) spi2STATbits.SPIROV = 0;
+ sprintf(sz, "%d %04X\r\n", i, sts);
+ PDEBUG(sz);
+#endif
+// while(spi2STATbits.SPITBF == 1);
+// while(spi2STATbits.SPITBF);
+/*
+ while(!spi2_tx_fifo_is_full())
+ spi2_putc(c++);
+ while(!spi2_rx_fifo_is_empty()) {
+ rx = spi2_getc();
+ if (rx == '$') c = 0;
+ }
+*/
+ // i = ReadUART1();
+// WriteUART2(i);
+
+// PDEBUG(mes);
+// delay();
+ }
+}
--- /dev/null
+#include <p24FJ64GA004.h>
+#include <libpic30.h>
+
+#include "delay.h"
+#include "myspi.h"
+#include "myad.h"
+
+#define CS_RCLK PORTAbits.RA7
+#define CS_CLK PORTAbits.RA8
+#define CS_DATA PORTAbits.RA9
+
+#if 0
+// AD DRDY0 INTフラグ 1=INTかかった 0=なし
+static char ad_drdy0_int;
+// AD DRDY0 INTフラグ
+void ad_drdy0_intf_set(void)
+{
+ ad_drdy0_int = 1;
+}
+void ad_drdy0_intf_clear(void)
+{
+ ad_drdy0_int = 0;
+}
+char ad_is_drdy0_intf(void)
+{
+ if (ad_drdy0_int == 1) {
+ return 1;
+ }
+ return 0;
+}
+#endif
+
+void ad_cs_init(void)
+{
+ asm("NOP");
+ CS_RCLK = 0;
+ asm("NOP");
+ CS_CLK = 0;
+ asm("NOP");
+ CS_DATA = 0;
+}
+/*
+ int cs: 0〜15
+ */
+void ad_cs(unsigned char cs)
+{
+ unsigned char i;
+
+//CS_CLK = 1;
+ for(i = 16; i > 0; i--) {
+ if (i == cs+1) {
+ CS_DATA = 0;
+ } else {
+ CS_DATA = 1;
+ }
+ asm("NOP");
+ CS_CLK = 1;
+ CS_CLK = 0;
+ }
+ asm("NOP");
+ CS_RCLK = 1;
+ asm("NOP");
+ CS_DATA = 0;
+ asm("NOP");
+ CS_RCLK = 0;
+}
+void ad_cs_dis(void)
+{
+ unsigned char i;
+
+ CS_DATA = 1;
+ for(i = 16; i > 0; i--) {
+ CS_CLK = 1;
+ CS_CLK = 0;
+ }
+ asm("NOP");
+ CS_RCLK = 1;
+ asm("NOP");
+ CS_DATA = 0;
+ asm("NOP");
+ CS_RCLK = 0;
+}
+
+void ad_reset(void)
+{
+ PORTBbits.RB10 = 1; // -AD RESET
+ delay_us(1);
+ PORTBbits.RB10 = 0; // -AD RESET
+ delay_ms(1);
+ PORTBbits.RB10 = 1; // -AD RESET
+}
+void ad_start(void)
+{
+ PORTBbits.RB11 = 1; // +AD START
+ delay_us(1);
+ PORTBbits.RB11 = 0; // +AD START
+}
+// polling send
+void ad_spi_send(unsigned char c)
+{
+ while(spi1_tx_fifo_is_full());
+ spi1_putc(c);
+}
+// polling rcv
+unsigned char ad_spi_rcv(void)
+{
+ spi1_rx_overrun_clear();
+ while(spi1_tx_fifo_is_full());
+ // 前に受信したデータをクリア
+ spi1_getc();
+ // 送信
+ spi1_putc(0);
+ // 受信待ち
+ while(!spi1_rx_fifo_is_full());
+ return spi1_getc();
+}
+
+void ad_init(void)
+{
+ int cs;
+ int i;
+for(i = 0; i < AD_CHNUM; i++) {
+ cs = AD_CH1_CS + i;
+//1. Send the SDATAC command <11h>. This command cancels the RDATAC mode. RDATAC mode must be
+//cancelled before the register write commands.
+
+ ad_cs(cs);
+ ad_spi_send(ADCMD_SDATAC);
+ ad_cs_dis();
+//2. Send the register write command. The following example shows the register write as a block of nine bytes,
+//starting at register 0 (CONFIG0).
+ ad_cs(cs);
+ ad_spi_send(ADCMD_WREG | 0); // Register write command
+ ad_spi_send(9 - 1); // 9byte write
+ // CONFIG0: RFBIAS OFF, SPI timeout enable
+ // Bit 2 RBIAS: Internal reference bias
+ // 0 = Internal reference bias disabled
+ // 1 = Internal reference bias enabled (default)
+ // Bit 0 SPI: SCLK timeout of SPI interface
+ // 0 = SPI timeout disabled
+ // 1 = SPI timeout enabled (default), when SCLK is held low for 216 clock cycles
+ // bit76543210
+ ad_spi_send(0b00000101);
+ // CONFIG1: sinc1 filter, EXTREF ON, START delay = 0
+ // Bit 6 CHKSUM: Checksum
+ // 0 = Disabled (default)
+ // 1 = Conversion data checksum byte included in readback
+ // Bit 4 SINC2: Digital filter mode
+ // 0 = sinc1 filter (default)
+ // 1 = sinc2 filter
+ // Bit 3 EXTREF: Reference select
+ // 0 = Internal
+ // 1 = External (default)
+ // Bits 2-0 DELAY[2:0]: START conversion delay
+ // 000 = No delay (default)
+ // bit76543210
+ ad_spi_send(0b00001000);
+
+
+ // CONFIG2: SYNCOUT ON, Gate control, DataRate=10Hz
+ // Bit 5 SYNCOUT: SYNCOUT clock enable
+ // 0 = SYNCOUT disabled (default)
+ // 1 = SYNCOUT enabled
+ // Bit 4 PULSE: Conversion Control mode select
+ // 0 = Gate Control mode (default)
+ // 1 = Pulse Control mode
+ // Bits 2-0 DR[2:0] Data rate setting
+ // 000 = 10SPS (default)
+ // 001 = 16.6SPS
+ // 010 = 50SPS
+ // 011 = 60SPS
+ // 100 = 400SPS
+ // 101 = 1200SPS
+ // 110 = 3600SPS
+ // 111 = 14400SPS
+ // NOTE: fCLK = 7.3728MHz
+ unsigned char rate_bit;
+ switch(AD_SAMPLE) {
+ case 50:
+ rate_bit = 0b00000010;
+ break;
+ case 400:
+ rate_bit = 0b00000100;
+ break;
+ default:
+ case 10:
+ rate_bit = 0b00000000;
+ break;
+ }
+ // bit76543210
+ ad_spi_send(0b00100000 | rate_bit);
+
+ // OFC0,1,2: no offset correction
+ ad_spi_send(0);
+ ad_spi_send(0);
+ ad_spi_send(0);
+
+ // FSC0,1,2: no full scale correction
+ ad_spi_send(0);
+ ad_spi_send(0);
+ ad_spi_send(0b01000000);
+ ad_cs_dis();
+
+}
+ // 4. Take the START pin high or send the START command to start conversions.
+ ad_start_ena(); // +AD START
+
+ for(i = 0; i < AD_CHNUM; i++) {
+ cs = AD_CH1_CS + i;
+ //5. Optionally, send the RDATAC command <10h>. This permits reading of conversion data without the need of
+ //the read data command. Otherwise, the read data opcode must be sent to read each conversion result.
+ ad_cs(cs);
+ ad_spi_send(ADCMD_RDATAC);
+ ad_cs_dis();
+ }
+
+}
+/*
+ PGA280 init
+ BUF OFF
+*/
+void pga_init(void)
+{
+ int cs;
+ int i;
+for(i = 0; i < AD_CHNUM; i++) {
+ cs = PGA_CH1_CS + i;
+ //Register 1
+ //Soft Reset
+ ad_cs(cs);
+ ad_spi_send(0x41);
+ ad_spi_send(0x01);
+ ad_cs_dis();
+ //waitいる?
+ delay_ms(1);
+
+ //Register 0
+ //Gain=1/4
+ ad_cs(cs);
+ ad_spi_send(0x40); //(BUF OFF)
+ ad_spi_send(0x08);
+ ad_cs_dis();
+
+ //Register 8: GPIO Configuration Register
+ //使わないpinはoutput(=1)にする
+ //bit6 GPIO6(SYNCIN) input(=0)
+ ad_cs(cs);
+ ad_spi_send(0x48);
+ ad_spi_send(0b00111111);
+ ad_cs_dis();
+
+ //Register 12: Special Functions Register
+ //bit6 SYNCin=1 SYNCIN(GPIO6) Enable
+ ad_cs(cs);
+ ad_spi_send(0x4C);
+ ad_spi_send(0b01000000);
+ ad_cs_dis();
+}
+}
+
--- /dev/null
+#ifndef __MYAD_H__
+#include <p24FJ64GA004.h>
+#include <libpic30.h>
+
+#define __MYAD_H__
+
+#define AD_CHNUM 6
+#define AD_CH1_CS 0 // AD CH1のCS番号
+#define PGA_CH1_CS 6 // PGA CH1のCS番号
+
+//#define AD_SAMPLE0 400 // AD ICの出力レート [Hz]
+//#define AD_SAMPLE1 50 // Main CPUに向けて出力するデータのサンプル数 [Hz]
+
+#define AD_SAMPLE 50 // AD ICの出力レート [Hz]
+
+// SPI CMD
+#define ADCMD_SDATAC 0x11
+#define ADCMD_WREG 0x40
+#define ADCMD_RDATAC 0x10
+
+// AD DRDY0 INTフラグ
+//void ad_drdy0_intf_set(void);
+//void ad_drdy0_intf_clear(void);
+//char ad_is_drdy0_intf(void);
+
+void ad_cs_init(void);
+void ad_cs(unsigned char adr);
+void ad_cs_dis(void);
+
+#define ad_reset_dis() PORTBbits.RB10 = 1; __delay32(1)
+#define ad_reset_ena() PORTBbits.RB10 = 0; __delay32(1)
+
+#define ad_start_dis() PORTBbits.RB11 = 0; __delay32(1)
+#define ad_start_ena() PORTBbits.RB11 = 1; __delay32(1)
+
+#define ad_is_drdy0_enable() (PORTBbits.RB12 == 0)
+
+void ad_reset(void);
+void ad_start(void);
+void ad_init(void);
+
+void ad_spi_send(unsigned char c);
+unsigned char ad_spi_rcv(void);
+
+void pga_init(void);
+
+#endif
--- /dev/null
+#include <p24FJ64GA004.h>
+
+#include "myspi.h"
+
+/*
+ AD SPI1 Init
+ Enhanced Buffer OFF
+ master mode
+*/
+int spi1_init(void)
+{
+ int i;
+ unsigned char c;
+
+ SPI1STAT = 0;
+ //1. Clear the SPIxBUF register.
+ for(i = 0; i < 16; i++) c = SPI1BUF;
+ spi1_intf_clear();
+
+ //2. Write the desired settings to the SPIxCON register with MSTEN (SPIxCON1<5>) = 1.
+ // bit12 DISSCK=0 0=Internal SPI clock is enabled
+ // bit11 DISSDO=0 0 = SDOx pin is controlled by the module
+ // bit10 MODE16=0 8bit
+ // bit9 SMP=1 1=Input data sampled at end of data output time @MasterMode
+ // bit8 CKE=0 DATA CHANGE=CLK LtoH
+ // bit7 SSEN=0 SS pin disable
+ // bit6 CKP=0 CLK IDLE=LOW
+ // bit5 MSTEN=1 Master
+ // bit4-2 SPRE=0b111 Secondary Prescale 1:1
+ // 111 = Secondary prescale 1:1
+ // 110 = Secondary prescale 2:1
+ // ...
+ // 000 = Secondary prescale 8:1
+ // bit1-0 PPRE=0b01 Primarily Prescale 4:1
+ // 11 = Primary prescale 1:1
+ // 10 = Primary prescale 4:1
+ // 01 = Primary prescale 16:1
+ // 00 = Primary prescale 64:1
+ // 5432109876543210
+ SPI1CON1 = 0b0000001000111110;
+
+ // Enahanced Buffer(FIFO) Disable
+ // bit0 SPIBEN: Enhanced Buffer Enable bit
+ // 1 = Enhanced Buffer enabled
+ // 0 = Enhanced Buffer disabled (Legacy mode)
+ SPI1CON2 = 0x00;
+// SPI1CON2bits.SPIBEN = 1;
+
+ // bit 4-2 SISEL2:SISEL0: SPIx Buffer Interrupt Mode bits (valid in Enhanced Buffer mode)
+ // 001 = Interrupt when data is available in receive buffer (SRMPT bit is set)
+// SPI1STATbits.SISEL = 0b001;
+
+ //3. Clear the SPIROV bit (SPIxSTAT<6>).
+ SPI1STATbits.SPIROV = 0;
+
+ //4. Enable SPIx operation by setting the SPIEN bit (SPIxSTAT<15>).
+ SPI1STATbits.SPIEN = 1;
+
+}
+/*
+ DataOut SPI2 Init
+ Enhanced Buffer ON
+ Slave mode
+*/
+int spi2_init(void)
+{
+ int i;
+ unsigned char c;
+
+ SPI2STAT = 0;
+ //1. Clear the SPIxBUF register.
+ for(i = 0; i < 16; i++) c = SPI2BUF;
+ //2. If using interrupts:
+ //• Clear the SPIxIF bit in the respective IFSx register.
+ IFS2bits.SPI2IF = 0;
+//• Set the SPIxIE bit in the respective IECx register.
+//• Write the SPIxIP bits in the respective IPCx register to set the interrupt priority.
+
+ // 割り込み要因設定
+ // 0b100 = Interrupt when one data is shifted into the SPIxSR, as a result, the TX FIFO has one open spot
+ // TX FIFOに1byte空き生じた
+ SPI2STATbits.SISEL = 0b100;
+
+ //3. Write the desired settings to the SPIxCON1 and SPIxCON2 registers with MSTEN (SPIxCON1<5>) = 0.
+ // SLAVE,8bit,CLK IDLE=LOW, DATA CHANGE=CLK HtoL, SS pin enable
+ // 5432109876543210
+// SPI1CON1 = 0b0000000110000000;
+ SPI2CON1 = 0b0000000100000000;
+ // Enahanced Buffer(FIFO) Disable
+ SPI2CON2 = 0x00;
+ //4. Clear the SMP bit. SPI1CON1<9>
+ SPI2CON1bits.SMP = 0;
+ //5. If the CKE<8> bit is set, then the SSEN<7> bit must be set, thus enabling the SSx pin.
+ SPI2CON1bits.SSEN = 1;
+ //6. Clear the SPIROV bit (SPIxSTAT<6>).
+ SPI2STATbits.SPIROV = 0;
+ //7. Select Enhanced Buffer mode by setting the SPIBEN bit (SPIxCON2<0>).
+ SPI2CON2bits.SPIBEN = 1;
+
+ //8. Enable SPI operation by setting the SPIEN bit (SPIxSTAT<15>).
+ SPI2STATbits.SPIEN = 1;
+}
--- /dev/null
+#ifndef __MYSPI_H__
+#include <p24FJ64GA004.h>
+
+#define __MYSPI_H__
+int spi1_init(void);
+int spi2_init(void);
+
+#define spi1_tx_fifo_is_full() (SPI1STATbits.SPITBF == 1) // true=full(Transmit not yet started, SPIxTXB is full)
+#define spi1_rx_fifo_is_full() (SPI1STATbits.SPIRBF == 1) // true=full(Receive complete)
+#define spi1_rx_fifo_is_empty() (SPI1STATbits.SRXMPT == 1) // true=empty, SRXMPT: Receive FIFO Empty bit (valid in Enhanced Buffer mode)
+#define spi1_rx_overrun_clear() SPI1STATbits.SPIROV = 0;
+
+#define spi1_putc(c) SPI1BUF = (c & 0xFF)
+#define spi1_getc() (SPI1BUF & 0xFF)
+
+#define spi1_set_int_level(i) IPC2bits.SPI1IP = (i)
+#define spi1_int_enable() IEC0bits.SPI1IE = 1
+#define spi1_int_disable() IEC0bits.SPI1IE = 0
+#define spi1_intf_clear() IFS0bits.SPI1IF = 0
+
+#define spi2_tx_fifo_is_full() (SPI2STATbits.SPITBF == 1) // true=full
+#define spi2_rx_fifo_is_full() (SPI2STATbits.SPIRBF == 1) // true=full
+#define spi2_rx_fifo_is_empty() (SPI2STATbits.SRXMPT == 1) // true=empty
+
+#define spi2_putc(c) SPI2BUF = (c & 0xFF)
+#define spi2_getc() (SPI2BUF & 0xFF)
+
+#define spi2_set_int_level(i) IPC8bits.SPI2IP = (i)
+#define spi2_int_enable() IEC2bits.SPI2IE = 1
+#define spi2_intf_clear() IFS2bits.SPI2IF = 0
+
+#endif
--- /dev/null
+#include <p24FJ64GA004.h>
+#include "myuart.h"
+
+// ublox GPS受信用リングバッファ
+static unsigned char ubx_w, ubx_r;
+static unsigned char ubx_buf[256];
+
+void _ISR _U1RXInterrupt(void)
+{
+ // 割り込みフラグクリア
+ IFS0bits.U1RXIF = 0;
+ while(uart1_rx_is_rdy()) {
+ ubx_buf[ubx_w++] = uart1_getc();
+ }
+ if (U1STAbits.OERR == 1) U1STAbits.OERR = 0;
+}
+void uart1_puts(char *s)
+{
+ while(*s != 0) {
+ while(uart1_tx_is_full());
+ U1TXREG = *s++;
+ }
+}
+void uart2_puts(char *s)
+{
+ while(*s != 0) {
+ while(uart2_tx_is_full());
+ U2TXREG = *s++;
+ }
+}
+/*
+return 0=なし 1=あり
+ */
+int uart1_rcvbuf_is_data(void)
+{
+ if (ubx_r == ubx_w) return 0;
+ return 1;
+}
+/*
+ return データ -1=データ無し
+ */
+int uart1_rcvbuf_getc(void)
+{
+ if (ubx_r == ubx_w) return -1;
+ return ubx_buf[ubx_r++];
+}
+
+void uart1_rcvbuf_clear(void)
+{
+ ubx_r = ubx_w;
+}
+
+void uart1_init(unsigned int mode, unsigned int sts, unsigned int baud)
+{
+ U1MODE = mode;
+ U1STA = sts;
+ U1BRG = baud;
+ ubx_w = 0;
+ ubx_r = 0;
+}
+void uart2_init(unsigned int mode, unsigned int sts, unsigned int baud)
+{
+ U2MODE = mode;
+ U2STA = sts;
+ U2BRG = baud;
+}
--- /dev/null
+
+#ifndef __MYUART_H__
+
+#define __MYUART_H__
+
+#include <p24FJ64GA004.h>
+
+#define uart1_tx_is_full() (U1STAbits.UTXBF == 1)
+#define uart2_tx_is_full() (U2STAbits.UTXBF == 1)
+
+#define uart1_rx_is_rdy() (U1STAbits.URXDA == 1)
+#define uart2_rx_is_rdy() (U2STAbits.URXDA == 1)
+
+#define uart1_putc(c) U1TXREG = (c)
+#define uart2_putc(c) U2TXREG = (c)
+
+#define uart1_getc(c) U1RXREG
+#define uart2_getc(c) U2RXREG
+
+// 割り込みレベル デフォルト4
+#define uart1_set_int_level(i) IPC2bits.U1RXIP = (i)
+#define uart1_rx_int_enable() IEC0bits.U1RXIE = 1
+#define uart1_rx_int_disable() IEC0bits.U1RXIE = 0
+
+#define uart2_set_int_level(i) IPC7bits.U2RXIP = (i)
+#define uart2_rx_int_enable() IEC1bits.U2RXIE = 1
+#define uart2_rx_int_disable() IEC1bits.U2RXIE = 0
+
+
+void uart1_puts(char *s);
+void uart2_puts(char *s);
+
+int uart1_rcvbuf_is_data(void);
+int uart1_rcvbuf_getc(void);
+void uart1_rcvbuf_clear(void);
+
+void uart1_init(unsigned int mode, unsigned int sts, unsigned int baud);
+void uart2_init(unsigned int mode, unsigned int sts, unsigned int baud);
+
+#endif
--- /dev/null
+# This code depends on make tool being used
+DEPFILES=$(wildcard $(addsuffix .d, ${OBJECTFILES}))
+ifneq (${DEPFILES},)
+include ${DEPFILES}
+endif
--- /dev/null
+#
+# Generated Makefile - do not edit!
+#
+# Edit the Makefile in the project folder instead (../Makefile). Each target
+# has a -pre and a -post target defined where you can add customized code.
+#
+# This makefile implements configuration specific macros and targets.
+
+
+# Include project Makefile
+include Makefile
+
+# Environment
+# Adding MPLAB X bin directory to path
+PATH:=/opt/microchip/mplabx/mplab_ide/mplab_ide/modules/../../bin/:$(PATH)
+MKDIR=mkdir -p
+RM=rm -f
+MV=mv
+CP=cp
+
+# Macros
+CND_CONF=default
+ifeq ($(TYPE_IMAGE), DEBUG_RUN)
+IMAGE_TYPE=debug
+FINAL_IMAGE=dist/${CND_CONF}/${IMAGE_TYPE}/ad2010.${IMAGE_TYPE}.out
+else
+IMAGE_TYPE=production
+FINAL_IMAGE=dist/${CND_CONF}/${IMAGE_TYPE}/ad2010.${IMAGE_TYPE}.out
+endif
+
+# Object Directory
+OBJECTDIR=build/${CND_CONF}/${IMAGE_TYPE}
+
+# Distribution Directory
+DISTDIR=dist/${CND_CONF}/${IMAGE_TYPE}
+
+# Object Files Quoted if spaced
+OBJECTFILES_QUOTED_IF_SPACED=${OBJECTDIR}/debug_print.o ${OBJECTDIR}/main.o ${OBJECTDIR}/myad.o ${OBJECTDIR}/myspi.o ${OBJECTDIR}/myuart.o ${OBJECTDIR}/ring.o ${OBJECTDIR}/ublox.o
+
+# Object Files
+OBJECTFILES=${OBJECTDIR}/debug_print.o ${OBJECTDIR}/main.o ${OBJECTDIR}/myad.o ${OBJECTDIR}/myspi.o ${OBJECTDIR}/myuart.o ${OBJECTDIR}/ring.o ${OBJECTDIR}/ublox.o
+
+
+CFLAGS=
+ASFLAGS=
+LDLIBSOPTIONS=
+
+# Path to java used to run MPLAB X when this makefile was created
+MP_JAVA_PATH="/usr/lib/jvm/java-6-openjdk/jre/bin/"
+OS_CURRENT="$(shell uname -s)"
+############# Tool locations ##########################################
+# If you copy a project from one host to another, the path where the #
+# compiler is installed may be different. #
+# If you open this project with MPLAB X in the new host, this #
+# makefile will be regenerated and the paths will be corrected. #
+#######################################################################
+MP_CC="/opt/microchip/mplabc30/v3.30c/bin/pic30-gcc"
+# MP_BC is not defined
+MP_AS="/opt/microchip/mplabc30/v3.30c/bin/pic30-as"
+MP_LD="/opt/microchip/mplabc30/v3.30c/bin/pic30-ld"
+MP_AR="/opt/microchip/mplabc30/v3.30c/bin/pic30-ar"
+DEP_GEN=${MP_JAVA_PATH}java -jar "/opt/microchip/mplabx/mplab_ide/mplab_ide/modules/../../bin/extractobjectdependencies.jar"
+# fixDeps replaces a bunch of sed/cat/printf statements that slow down the build
+FIXDEPS=fixDeps
+MP_CC_DIR="/opt/microchip/mplabc30/v3.30c/bin"
+# MP_BC_DIR is not defined
+MP_AS_DIR="/opt/microchip/mplabc30/v3.30c/bin"
+MP_LD_DIR="/opt/microchip/mplabc30/v3.30c/bin"
+MP_AR_DIR="/opt/microchip/mplabc30/v3.30c/bin"
+# MP_BC_DIR is not defined
+
+.build-conf: ${BUILD_SUBPROJECTS}
+ ${MAKE} -f nbproject/Makefile-default.mk dist/${CND_CONF}/${IMAGE_TYPE}/ad2010.${IMAGE_TYPE}.out
+
+MP_PROCESSOR_OPTION=24FJ64GA004
+MP_LINKER_FILE_OPTION=,-Tp24FJ64GA004.gld
+# ------------------------------------------------------------------------------------
+# Rules for buildStep: assemble
+ifeq ($(TYPE_IMAGE), DEBUG_RUN)
+else
+endif
+
+# ------------------------------------------------------------------------------------
+# Rules for buildStep: assembleWithPreprocess
+ifeq ($(TYPE_IMAGE), DEBUG_RUN)
+else
+endif
+
+# ------------------------------------------------------------------------------------
+# Rules for buildStep: compile
+ifeq ($(TYPE_IMAGE), DEBUG_RUN)
+${OBJECTDIR}/debug_print.o: debug_print.c nbproject/Makefile-${CND_CONF}.mk
+ @${MKDIR} ${OBJECTDIR}
+ @${RM} ${OBJECTDIR}/debug_print.o.d
+ @${RM} ${OBJECTDIR}/debug_print.o.ok ${OBJECTDIR}/debug_print.o.err
+ @${FIXDEPS} "${OBJECTDIR}/debug_print.o.d" $(SILENT) -c ${MP_CC} $(MP_EXTRA_CC_PRE) -g -D__DEBUG -D__MPLAB_DEBUGGER_ICD3=1 -omf=elf -x c -c -mcpu=$(MP_PROCESSOR_OPTION) -O1 -MMD -MF "${OBJECTDIR}/debug_print.o.d" -o ${OBJECTDIR}/debug_print.o debug_print.c
+
+${OBJECTDIR}/myuart.o: myuart.c nbproject/Makefile-${CND_CONF}.mk
+ @${MKDIR} ${OBJECTDIR}
+ @${RM} ${OBJECTDIR}/myuart.o.d
+ @${RM} ${OBJECTDIR}/myuart.o.ok ${OBJECTDIR}/myuart.o.err
+ @${FIXDEPS} "${OBJECTDIR}/myuart.o.d" $(SILENT) -c ${MP_CC} $(MP_EXTRA_CC_PRE) -g -D__DEBUG -D__MPLAB_DEBUGGER_ICD3=1 -omf=elf -x c -c -mcpu=$(MP_PROCESSOR_OPTION) -O1 -MMD -MF "${OBJECTDIR}/myuart.o.d" -o ${OBJECTDIR}/myuart.o myuart.c
+
+${OBJECTDIR}/ublox.o: ublox.c nbproject/Makefile-${CND_CONF}.mk
+ @${MKDIR} ${OBJECTDIR}
+ @${RM} ${OBJECTDIR}/ublox.o.d
+ @${RM} ${OBJECTDIR}/ublox.o.ok ${OBJECTDIR}/ublox.o.err
+ @${FIXDEPS} "${OBJECTDIR}/ublox.o.d" $(SILENT) -c ${MP_CC} $(MP_EXTRA_CC_PRE) -g -D__DEBUG -D__MPLAB_DEBUGGER_ICD3=1 -omf=elf -x c -c -mcpu=$(MP_PROCESSOR_OPTION) -O1 -MMD -MF "${OBJECTDIR}/ublox.o.d" -o ${OBJECTDIR}/ublox.o ublox.c
+
+${OBJECTDIR}/myad.o: myad.c nbproject/Makefile-${CND_CONF}.mk
+ @${MKDIR} ${OBJECTDIR}
+ @${RM} ${OBJECTDIR}/myad.o.d
+ @${RM} ${OBJECTDIR}/myad.o.ok ${OBJECTDIR}/myad.o.err
+ @${FIXDEPS} "${OBJECTDIR}/myad.o.d" $(SILENT) -c ${MP_CC} $(MP_EXTRA_CC_PRE) -g -D__DEBUG -D__MPLAB_DEBUGGER_ICD3=1 -omf=elf -x c -c -mcpu=$(MP_PROCESSOR_OPTION) -O1 -MMD -MF "${OBJECTDIR}/myad.o.d" -o ${OBJECTDIR}/myad.o myad.c
+
+${OBJECTDIR}/main.o: main.c nbproject/Makefile-${CND_CONF}.mk
+ @${MKDIR} ${OBJECTDIR}
+ @${RM} ${OBJECTDIR}/main.o.d
+ @${RM} ${OBJECTDIR}/main.o.ok ${OBJECTDIR}/main.o.err
+ @${FIXDEPS} "${OBJECTDIR}/main.o.d" $(SILENT) -c ${MP_CC} $(MP_EXTRA_CC_PRE) -g -D__DEBUG -D__MPLAB_DEBUGGER_ICD3=1 -omf=elf -x c -c -mcpu=$(MP_PROCESSOR_OPTION) -O1 -MMD -MF "${OBJECTDIR}/main.o.d" -o ${OBJECTDIR}/main.o main.c
+
+${OBJECTDIR}/myspi.o: myspi.c nbproject/Makefile-${CND_CONF}.mk
+ @${MKDIR} ${OBJECTDIR}
+ @${RM} ${OBJECTDIR}/myspi.o.d
+ @${RM} ${OBJECTDIR}/myspi.o.ok ${OBJECTDIR}/myspi.o.err
+ @${FIXDEPS} "${OBJECTDIR}/myspi.o.d" $(SILENT) -c ${MP_CC} $(MP_EXTRA_CC_PRE) -g -D__DEBUG -D__MPLAB_DEBUGGER_ICD3=1 -omf=elf -x c -c -mcpu=$(MP_PROCESSOR_OPTION) -O1 -MMD -MF "${OBJECTDIR}/myspi.o.d" -o ${OBJECTDIR}/myspi.o myspi.c
+
+${OBJECTDIR}/ring.o: ring.c nbproject/Makefile-${CND_CONF}.mk
+ @${MKDIR} ${OBJECTDIR}
+ @${RM} ${OBJECTDIR}/ring.o.d
+ @${RM} ${OBJECTDIR}/ring.o.ok ${OBJECTDIR}/ring.o.err
+ @${FIXDEPS} "${OBJECTDIR}/ring.o.d" $(SILENT) -c ${MP_CC} $(MP_EXTRA_CC_PRE) -g -D__DEBUG -D__MPLAB_DEBUGGER_ICD3=1 -omf=elf -x c -c -mcpu=$(MP_PROCESSOR_OPTION) -O1 -MMD -MF "${OBJECTDIR}/ring.o.d" -o ${OBJECTDIR}/ring.o ring.c
+
+else
+${OBJECTDIR}/debug_print.o: debug_print.c nbproject/Makefile-${CND_CONF}.mk
+ @${MKDIR} ${OBJECTDIR}
+ @${RM} ${OBJECTDIR}/debug_print.o.d
+ @${RM} ${OBJECTDIR}/debug_print.o.ok ${OBJECTDIR}/debug_print.o.err
+ @${FIXDEPS} "${OBJECTDIR}/debug_print.o.d" $(SILENT) -c ${MP_CC} $(MP_EXTRA_CC_PRE) -g -omf=elf -x c -c -mcpu=$(MP_PROCESSOR_OPTION) -O1 -MMD -MF "${OBJECTDIR}/debug_print.o.d" -o ${OBJECTDIR}/debug_print.o debug_print.c
+
+${OBJECTDIR}/myuart.o: myuart.c nbproject/Makefile-${CND_CONF}.mk
+ @${MKDIR} ${OBJECTDIR}
+ @${RM} ${OBJECTDIR}/myuart.o.d
+ @${RM} ${OBJECTDIR}/myuart.o.ok ${OBJECTDIR}/myuart.o.err
+ @${FIXDEPS} "${OBJECTDIR}/myuart.o.d" $(SILENT) -c ${MP_CC} $(MP_EXTRA_CC_PRE) -g -omf=elf -x c -c -mcpu=$(MP_PROCESSOR_OPTION) -O1 -MMD -MF "${OBJECTDIR}/myuart.o.d" -o ${OBJECTDIR}/myuart.o myuart.c
+
+${OBJECTDIR}/ublox.o: ublox.c nbproject/Makefile-${CND_CONF}.mk
+ @${MKDIR} ${OBJECTDIR}
+ @${RM} ${OBJECTDIR}/ublox.o.d
+ @${RM} ${OBJECTDIR}/ublox.o.ok ${OBJECTDIR}/ublox.o.err
+ @${FIXDEPS} "${OBJECTDIR}/ublox.o.d" $(SILENT) -c ${MP_CC} $(MP_EXTRA_CC_PRE) -g -omf=elf -x c -c -mcpu=$(MP_PROCESSOR_OPTION) -O1 -MMD -MF "${OBJECTDIR}/ublox.o.d" -o ${OBJECTDIR}/ublox.o ublox.c
+
+${OBJECTDIR}/myad.o: myad.c nbproject/Makefile-${CND_CONF}.mk
+ @${MKDIR} ${OBJECTDIR}
+ @${RM} ${OBJECTDIR}/myad.o.d
+ @${RM} ${OBJECTDIR}/myad.o.ok ${OBJECTDIR}/myad.o.err
+ @${FIXDEPS} "${OBJECTDIR}/myad.o.d" $(SILENT) -c ${MP_CC} $(MP_EXTRA_CC_PRE) -g -omf=elf -x c -c -mcpu=$(MP_PROCESSOR_OPTION) -O1 -MMD -MF "${OBJECTDIR}/myad.o.d" -o ${OBJECTDIR}/myad.o myad.c
+
+${OBJECTDIR}/main.o: main.c nbproject/Makefile-${CND_CONF}.mk
+ @${MKDIR} ${OBJECTDIR}
+ @${RM} ${OBJECTDIR}/main.o.d
+ @${RM} ${OBJECTDIR}/main.o.ok ${OBJECTDIR}/main.o.err
+ @${FIXDEPS} "${OBJECTDIR}/main.o.d" $(SILENT) -c ${MP_CC} $(MP_EXTRA_CC_PRE) -g -omf=elf -x c -c -mcpu=$(MP_PROCESSOR_OPTION) -O1 -MMD -MF "${OBJECTDIR}/main.o.d" -o ${OBJECTDIR}/main.o main.c
+
+${OBJECTDIR}/myspi.o: myspi.c nbproject/Makefile-${CND_CONF}.mk
+ @${MKDIR} ${OBJECTDIR}
+ @${RM} ${OBJECTDIR}/myspi.o.d
+ @${RM} ${OBJECTDIR}/myspi.o.ok ${OBJECTDIR}/myspi.o.err
+ @${FIXDEPS} "${OBJECTDIR}/myspi.o.d" $(SILENT) -c ${MP_CC} $(MP_EXTRA_CC_PRE) -g -omf=elf -x c -c -mcpu=$(MP_PROCESSOR_OPTION) -O1 -MMD -MF "${OBJECTDIR}/myspi.o.d" -o ${OBJECTDIR}/myspi.o myspi.c
+
+${OBJECTDIR}/ring.o: ring.c nbproject/Makefile-${CND_CONF}.mk
+ @${MKDIR} ${OBJECTDIR}
+ @${RM} ${OBJECTDIR}/ring.o.d
+ @${RM} ${OBJECTDIR}/ring.o.ok ${OBJECTDIR}/ring.o.err
+ @${FIXDEPS} "${OBJECTDIR}/ring.o.d" $(SILENT) -c ${MP_CC} $(MP_EXTRA_CC_PRE) -g -omf=elf -x c -c -mcpu=$(MP_PROCESSOR_OPTION) -O1 -MMD -MF "${OBJECTDIR}/ring.o.d" -o ${OBJECTDIR}/ring.o ring.c
+
+endif
+
+# ------------------------------------------------------------------------------------
+# Rules for buildStep: link
+ifeq ($(TYPE_IMAGE), DEBUG_RUN)
+dist/${CND_CONF}/${IMAGE_TYPE}/ad2010.${IMAGE_TYPE}.out: ${OBJECTFILES} nbproject/Makefile-${CND_CONF}.mk
+ @${MKDIR} dist/${CND_CONF}/${IMAGE_TYPE}
+ ${MP_CC} $(MP_EXTRA_LD_PRE) -omf=elf -mcpu=$(MP_PROCESSOR_OPTION) -D__DEBUG -D__MPLAB_DEBUGGER_ICD3=1 -o dist/${CND_CONF}/${IMAGE_TYPE}/ad2010.${IMAGE_TYPE}.out ${OBJECTFILES_QUOTED_IF_SPACED} -Wl,--defsym=__MPLAB_BUILD=1,--heap=64,--no-check-sections$(MP_EXTRA_LD_POST)$(MP_LINKER_FILE_OPTION),--defsym=__MPLAB_DEBUG=1,--defsym=__ICD2RAM=1,--defsym=__DEBUG=1,--defsym=__MPLAB_DEBUGGER_ICD3=1
+else
+dist/${CND_CONF}/${IMAGE_TYPE}/ad2010.${IMAGE_TYPE}.out: ${OBJECTFILES} nbproject/Makefile-${CND_CONF}.mk
+ @${MKDIR} dist/${CND_CONF}/${IMAGE_TYPE}
+ ${MP_CC} $(MP_EXTRA_LD_PRE) -omf=elf -mcpu=$(MP_PROCESSOR_OPTION) -o dist/${CND_CONF}/${IMAGE_TYPE}/ad2010.${IMAGE_TYPE}.out ${OBJECTFILES_QUOTED_IF_SPACED} -Wl,--defsym=__MPLAB_BUILD=1,--heap=64,--no-check-sections$(MP_EXTRA_LD_POST)$(MP_LINKER_FILE_OPTION)
+ ${MP_CC_DIR}/pic30-bin2hex dist/${CND_CONF}/${IMAGE_TYPE}/ad2010.${IMAGE_TYPE}.out -omf=elf
+endif
+
+
+# Subprojects
+.build-subprojects:
+
+# Clean Targets
+.clean-conf:
+ ${RM} -r build/default
+ ${RM} -r dist/default
+
+# Enable dependency checking
+.dep.inc: .depcheck-impl
+
+DEPFILES=$(wildcard $(addsuffix .d, ${OBJECTFILES}))
+ifneq (${DEPFILES},)
+include ${DEPFILES}
+endif
--- /dev/null
+#
+#Thu Nov 17 20:17:23 JST 2011
+default.languagetoolchain.dir=/opt/microchip/mplabc30/v3.30c/bin
+com-microchip-mplab-nbide-embedded-makeproject-MakeProject.md5=11bb82e71763925c87fa30f6c65473b1
+default.languagetoolchain.version=3_30
+default.com-microchip-mplab-nbide-toolchainC30-C30LanguageToolchain.md5=17df7e8733752d3b984a90d5cec1213a
+host.platform=linux
+conf.ids=default
--- /dev/null
+#
+# Generated Makefile - do not edit!
+#
+# Edit the Makefile in the project folder instead (../Makefile). Each target
+# has a pre- and a post- target defined where you can add customization code.
+#
+# This makefile implements macros and targets common to all configurations.
+#
+# NOCDDL
+
+
+# Building and Cleaning subprojects are done by default, but can be controlled with the SUB
+# macro. If SUB=no, subprojects will not be built or cleaned. The following macro
+# statements set BUILD_SUB-CONF and CLEAN_SUB-CONF to .build-reqprojects-conf
+# and .clean-reqprojects-conf unless SUB has the value 'no'
+SUB_no=NO
+SUBPROJECTS=${SUB_${SUB}}
+BUILD_SUBPROJECTS_=.build-subprojects
+BUILD_SUBPROJECTS_NO=
+BUILD_SUBPROJECTS=${BUILD_SUBPROJECTS_${SUBPROJECTS}}
+CLEAN_SUBPROJECTS_=.clean-subprojects
+CLEAN_SUBPROJECTS_NO=
+CLEAN_SUBPROJECTS=${CLEAN_SUBPROJECTS_${SUBPROJECTS}}
+
+
+# Project Name
+PROJECTNAME=ad2010
+
+# Active Configuration
+DEFAULTCONF=default
+CONF=${DEFAULTCONF}
+
+# All Configurations
+ALLCONFS=default
+
+
+# build
+.build-impl: .build-pre
+ ${MAKE} -f nbproject/Makefile-${CONF}.mk SUBPROJECTS=${SUBPROJECTS} .build-conf
+
+
+# clean
+.clean-impl: .clean-pre
+ ${MAKE} -f nbproject/Makefile-${CONF}.mk SUBPROJECTS=${SUBPROJECTS} .clean-conf
+
+# dependency checking support
+.depcheck-impl:
+# @echo "# This code depends on make tool being used" >.dep.inc
+# @if [ -n "${MAKE_VERSION}" ]; then \
+# echo "DEPFILES=\$$(wildcard \$$(addsuffix .d, \$${OBJECTFILES}))" >>.dep.inc; \
+# echo "ifneq (\$${DEPFILES},)" >>.dep.inc; \
+# echo "include \$${DEPFILES}" >>.dep.inc; \
+# echo "endif" >>.dep.inc; \
+# else \
+# echo ".KEEP_STATE:" >>.dep.inc; \
+# echo ".KEEP_STATE_FILE:.make.state.\$${CONF}" >>.dep.inc; \
+# fi
--- /dev/null
+#
+# Generated - do not edit!
+#
+# NOCDDL
+#
+CND_BASEDIR=`pwd`
+# default configuration
+CND_ARTIFACT_DIR_default=dist/default/production
+CND_ARTIFACT_NAME_default=ad2010.production.out
+CND_ARTIFACT_PATH_default=dist/default/production/ad2010.production.out
+CND_PACKAGE_DIR_default=${CND_DISTDIR}/default/package
+CND_PACKAGE_NAME_default=ad2010.tar
+CND_PACKAGE_PATH_default=${CND_DISTDIR}/default/package/ad2010.tar
--- /dev/null
+#!/bin/bash -x
+
+#
+# Generated - do not edit!
+#
+
+# Macros
+TOP=`pwd`
+CND_CONF=default
+CND_DISTDIR=dist
+TMPDIR=build/${CND_CONF}/${IMAGE_TYPE}/tmp-packaging
+TMPDIRNAME=tmp-packaging
+OUTPUT_PATH=dist/${CND_CONF}/${IMAGE_TYPE}/ad2010.${IMAGE_TYPE}.out
+OUTPUT_BASENAME=ad2010.${IMAGE_TYPE}.out
+PACKAGE_TOP_DIR=ad2010/
+
+# Functions
+function checkReturnCode
+{
+ rc=$?
+ if [ $rc != 0 ]
+ then
+ exit $rc
+ fi
+}
+function makeDirectory
+# $1 directory path
+# $2 permission (optional)
+{
+ mkdir -p "$1"
+ checkReturnCode
+ if [ "$2" != "" ]
+ then
+ chmod $2 "$1"
+ checkReturnCode
+ fi
+}
+function copyFileToTmpDir
+# $1 from-file path
+# $2 to-file path
+# $3 permission
+{
+ cp "$1" "$2"
+ checkReturnCode
+ if [ "$3" != "" ]
+ then
+ chmod $3 "$2"
+ checkReturnCode
+ fi
+}
+
+# Setup
+cd "${TOP}"
+mkdir -p ${CND_DISTDIR}/${CND_CONF}/package
+rm -rf ${TMPDIR}
+mkdir -p ${TMPDIR}
+
+# Copy files and create directories and links
+cd "${TOP}"
+makeDirectory ${TMPDIR}/ad2010/bin
+copyFileToTmpDir "${OUTPUT_PATH}" "${TMPDIR}/${PACKAGE_TOP_DIR}bin/${OUTPUT_BASENAME}" 0755
+
+
+# Generate tar file
+cd "${TOP}"
+rm -f ${CND_DISTDIR}/${CND_CONF}/package/ad2010.tar
+cd ${TMPDIR}
+tar -vcf ../../../../${CND_DISTDIR}/${CND_CONF}/package/ad2010.tar *
+checkReturnCode
+
+# Cleanup
+cd "${TOP}"
+rm -rf ${TMPDIR}
--- /dev/null
+<?xml version="1.0" encoding="UTF-8"?>
+<configurationDescriptor version="62">
+ <logicalFolder name="root" displayName="root" projectFiles="true">
+ <logicalFolder name="HeaderFiles"
+ displayName="Header Files"
+ projectFiles="true">
+ </logicalFolder>
+ <logicalFolder name="LibraryFiles"
+ displayName="Library Files"
+ projectFiles="true">
+ </logicalFolder>
+ <logicalFolder name="LinkerScript"
+ displayName="Linker Files"
+ projectFiles="true">
+ </logicalFolder>
+ <logicalFolder name="ObjectFiles"
+ displayName="Object Files"
+ projectFiles="true">
+ </logicalFolder>
+ <logicalFolder name="SourceFiles"
+ displayName="Source Files"
+ projectFiles="true">
+ <itemPath>debug_print.c</itemPath>
+ <itemPath>debug_print.h</itemPath>
+ <itemPath>delay.h</itemPath>
+ <itemPath>main.c</itemPath>
+ <itemPath>myad.c</itemPath>
+ <itemPath>myad.h</itemPath>
+ <itemPath>myspi.c</itemPath>
+ <itemPath>myspi.h</itemPath>
+ <itemPath>myuart.c</itemPath>
+ <itemPath>myuart.h</itemPath>
+ <itemPath>ring.c</itemPath>
+ <itemPath>ring.h</itemPath>
+ <itemPath>ublox.c</itemPath>
+ <itemPath>ublox.h</itemPath>
+ </logicalFolder>
+ <logicalFolder name="ExternalFiles"
+ displayName="Important Files"
+ projectFiles="false">
+ <itemPath>Makefile</itemPath>
+ </logicalFolder>
+ </logicalFolder>
+ <projectmakefile>Makefile</projectmakefile>
+ <confs>
+ <conf name="default" type="2">
+ <toolsSet>
+ <developmentServer>localhost</developmentServer>
+ <targetDevice>PIC24FJ64GA004</targetDevice>
+ <targetHeader></targetHeader>
+ <platformTool>ICD3PlatformTool</platformTool>
+ <languageToolchain>C30</languageToolchain>
+ <languageToolchainVersion>3.24</languageToolchainVersion>
+ <platform>2</platform>
+ </toolsSet>
+ <compileType>
+ <linkerTool>
+ <linkerLibItems>
+ </linkerLibItems>
+ </linkerTool>
+ </compileType>
+ <makeCustomizationType>
+ <makeCustomizationPreStepEnabled>false</makeCustomizationPreStepEnabled>
+ <makeCustomizationPreStep></makeCustomizationPreStep>
+ <makeCustomizationPostStepEnabled>false</makeCustomizationPostStepEnabled>
+ <makeCustomizationPostStep></makeCustomizationPostStep>
+ <makeCustomizationAlternativeFileToLoadEnabled>false</makeCustomizationAlternativeFileToLoadEnabled>
+ <makeCustomizationAlternativeFileToLoad></makeCustomizationAlternativeFileToLoad>
+ <makeCustomizationUseOfUserID>makeCustomizationUseOfUserID</makeCustomizationUseOfUserID>
+ <makeCustomizationUserID>makeCustomizationUserID</makeCustomizationUserID>
+ </makeCustomizationType>
+ <C30>
+ <property key="optimization-level" value="1"/>
+ <property key="preprocessor-macros" value=""/>
+ <property key="code-model" value="default"/>
+ <property key="const-model" value="default"/>
+ <property key="enable-procedural-abstraction" value="false"/>
+ <property key="enable-ansi-warnings" value="false"/>
+ <property key="enable-short-double" value="false"/>
+ <property key="extra-include-directories" value=""/>
+ <property key="post-instruction-scheduling" value="default"/>
+ <property key="enable-unroll-loops" value="false"/>
+ <property key="enable-symbols" value="true"/>
+ <property key="data-model" value="default"/>
+ <property key="isolate-each-function" value="false"/>
+ <property key="enable-fatal-warnings" value="false"/>
+ <property key="enable-omit-frame-pointer" value="false"/>
+ <property key="enable-ansi-std" value="false"/>
+ <property key="enable-all-warnings" value="false"/>
+ <property key="pre-instruction-scheduling" value="default"/>
+ <property key="enable-large-arrays" value="false"/>
+ <property key="scalar-model" value="default"/>
+ </C30>
+ <C30-AS>
+ <property key="omit-debug-dirs" value="false"/>
+ <property key="extra-include-directories-for-assembler" value=""/>
+ <property key="preprocessor-macros" value=""/>
+ <property key="list-file" value=""/>
+ <property key="list-assembly" value="false"/>
+ <property key="list-source" value="false"/>
+ <property key="relax" value="false"/>
+ <property key="extra-include-directories-for-preprocessor" value=""/>
+ <property key="warning-level" value="emit-warnings"/>
+ <property key="list-section-info" value="false"/>
+ <property key="omit-forms" value="false"/>
+ <property key="list-symbols" value="false"/>
+ <property key="keep-locals" value="false"/>
+ <property key="false-conditionals" value="false"/>
+ <property key="expand-macros" value="false"/>
+ <property key="assembler-symbols" value=""/>
+ </C30-AS>
+ <C30-LD>
+ <property key="preprocessor-macros" value=""/>
+ <property key="general-code-protect" value="no_code_protect"/>
+ <property key="secure-write-protect" value="no_write_protect"/>
+ <property key="warn-section-align" value="false"/>
+ <property key="heap-size" value="64"/>
+ <property key="remove-unused-sections" value="false"/>
+ <property key="stack-size" value=""/>
+ <property key="linker-symbols" value=""/>
+ <property key="trace-symbols" value=""/>
+ <property key="map-file" value=""/>
+ <property key="enable-pack-data" value="true"/>
+ <property key="boot-eeprom" value="no_eeprom"/>
+ <property key="general-write-protect" value="no_write_protect"/>
+ <property key="enable-handles" value="true"/>
+ <property key="enable-data-init" value="true"/>
+ <property key="secure-flash" value="no_flash"/>
+ <property key="boot-write-protect" value="no_write_protect"/>
+ <property key="boot-flash" value="no_flash"/>
+ <property key="report-memory-usage" value="false"/>
+ <property key="generate-cross-reference-file" value="false"/>
+ <property key="input-libraries" value=""/>
+ <property key="secure-ram" value="no_ram"/>
+ <property key="enable-check-sections" value="true"/>
+ <property key="enable-default-isr" value="true"/>
+ <property key="symbol-stripping" value="keep-all"/>
+ <property key="boot-ram" value="no_ram"/>
+ <property key="secure-eeprom" value="no_eeprom"/>
+ <property key="extra-lib-directories" value=""/>
+ </C30-LD>
+ <C30Global>
+ <property key="fast-math" value="false"/>
+ <property key="output-file-format" value="elf"/>
+ <property key="legacy-libc" value="false"/>
+ </C30Global>
+ <ICD3PlatformTool>
+ <property key="UART 2" value="true"/>
+ <property key="UART 1" value="true"/>
+ <property key="programoptions.preserveprogramrange" value="false"/>
+ <property key="programoptions.eraseb4program" value="true"/>
+ <property key="memories.id" value="false"/>
+ <property key="ToolFirmwareFilePath" value=""/>
+ <property key="memories.eeprom" value="false"/>
+ <property key="SecureSegment.SegmentProgramming" value="FullChipProgramming"/>
+ <property key="programoptions.usehighvoltageonmclr" value="false"/>
+ <property key="INPUT CAPTURE 5" value="true"/>
+ <property key="INPUT CAPTURE 4" value="true"/>
+ <property key="INPUT CAPTURE 3" value="true"/>
+ <property key="INPUT CAPTURE 2" value="true"/>
+ <property key="INPUT CAPTURE 1" value="true"/>
+ <property key="programoptions.preserveeeprom" value="false"/>
+ <property key="ADC 1" value="true"/>
+ <property key="debugoptions.useswbreakpoints" value="false"/>
+ <property key="hwtoolclock.frcindebug" value="false"/>
+ <property key="OUTPUT COMPARE 5" value="true"/>
+ <property key="OUTPUT COMPARE 4" value="true"/>
+ <property key="memories.programmemory" value="true"/>
+ <property key="OUTPUT COMPARE 3" value="true"/>
+ <property key="OUTPUT COMPARE 2" value="true"/>
+ <property key="OUTPUT COMPARE 1" value="true"/>
+ <property key="poweroptions.powerenable" value="false"/>
+ <property key="memories.programmemory.start" value="0x0"/>
+ <property key="programoptions.preserveprogramrange.start" value="0x0"/>
+ <property key="AutoSelectMemRanges" value="auto"/>
+ <property key="voltagevalue" value="3.25"/>
+ <property key="memories.programmemory.end" value="0xabfb"/>
+ <property key="TIMER5" value="true"/>
+ <property key="TIMER4" value="true"/>
+ <property key="TIMER3" value="true"/>
+ <property key="SPI 2" value="true"/>
+ <property key="TIMER2" value="true"/>
+ <property key="SPI 1" value="true"/>
+ <property key="TIMER1" value="true"/>
+ <property key="hwtoolclock.instructionspeed" value=""/>
+ <property key="CRC" value="true"/>
+ <property key="I2C2" value="true"/>
+ <property key="I2C1" value="true"/>
+ <property key="hwtoolclock.units" value="mips"/>
+ <property key="Freeze All Other Peripherals" value="true"/>
+ <property key="programoptions.preserveprogramrange.end" value="0xff"/>
+ </ICD3PlatformTool>
+ </conf>
+ </confs>
+</configurationDescriptor>
--- /dev/null
+<?xml version="1.0" encoding="UTF-8"?>
+<configurationDescriptor version="62">
+ <projectmakefile>Makefile</projectmakefile>
+ <defaultConf>0</defaultConf>
+ <confs>
+ <conf name="default" type="2">
+ <platformToolSN>:=MPLABCommUSB:=04D8:=9009:=0100:=Microchip Technology, Inc. (www.microchip.com):=MPLAB ICD3 tm (www.microchip.com):=TPM403082521:=x:=en</platformToolSN>
+ <languageToolchainDir>/opt/microchip/mplabc30/v3.24/bin</languageToolchainDir>
+ <mdbdebugger version="1">
+ <placeholder1>place holder 1</placeholder1>
+ <placeholder2>place holder 2</placeholder2>
+ </mdbdebugger>
+ <runprofile version="6">
+ <args></args>
+ <rundir></rundir>
+ <buildfirst>true</buildfirst>
+ <console-type>0</console-type>
+ <terminal-type>0</terminal-type>
+ <remove-instrumentation>0</remove-instrumentation>
+ <environment>
+ </environment>
+ </runprofile>
+ </conf>
+ </confs>
+</configurationDescriptor>
--- /dev/null
+<?xml version="1.0" encoding="UTF-8"?>
+<project-private xmlns="http://www.netbeans.org/ns/project-private/1">
+ <editor-bookmarks xmlns="http://www.netbeans.org/ns/editor-bookmarks/1"/>
+</project-private>
--- /dev/null
+<?xml version="1.0" encoding="UTF-8"?>
+<project xmlns="http://www.netbeans.org/ns/project/1">
+ <type>com.microchip.mplab.nbide.embedded.makeproject</type>
+ <configuration>
+ <data xmlns="http://www.netbeans.org/ns/make-project/1">
+ <name>AD2010</name>
+ <make-project-type>0</make-project-type>
+ <c-extensions>c</c-extensions>
+ <cpp-extensions/>
+ <header-extensions>h</header-extensions>
+ <sourceEncoding>UTF-8</sourceEncoding>
+ <make-dep-projects/>
+ </data>
+ </configuration>
+</project>
--- /dev/null
+#include "ring.h"
+
+/*
+ Ring Buffer用基本機能
+ write位置
+ read位置
+*/
+static unsigned char r_write;
+static unsigned char r_read;
+static unsigned char r_num;
+
+/*
+*/
+void ring_init(void)
+{
+ r_write = 0;
+ r_read = 0;
+ r_num = RING_NUM;
+}
+/*
+ 読み出し位置
+*/
+unsigned char ring_read_get(void)
+{
+ return r_read;
+}
+void ring_read_set(unsigned char i)
+{
+ r_read = i;
+}
+void ring_read_plus(void)
+{
+ r_read++;
+ if (r_read >= r_num) r_read = 0;
+}
+// 書き込み位置
+unsigned char ring_write_get(void)
+{
+ return r_write;
+}
+void ring_write_plus(void)
+{
+ r_write++;
+ if (r_write >= r_num) r_write = 0;
+}
+// 読み込んでいないデータ数
+unsigned char ring_num_get()
+{
+ signed char i;
+
+ i = (signed char)r_write - (signed char)r_read;
+ if (i < 0) i += r_num;
+ return (unsigned char)i;
+}
+
+/*
+ パケットバッファフル？
+ 1=Full
+ 0=not Full
+*/
+unsigned char ring_is_full(void)
+{
+ if (ring_num_get() >= r_num - 1) return 1;
+ return 0;
+}
--- /dev/null
+
+#ifndef __RING_H__
+
+#define __RING_H__
+
+#define RING_NUM 6
+
+#define ring_clear() ring_read_set(ring_write_get(t))
+
+void ring_init(void);
+//読み出し位置
+unsigned char ring_read_get(void);
+void ring_read_set(unsigned char i);
+void ring_read_plus(void);
+
+// 書き込み位置
+unsigned char ring_write_get(void);
+void ring_write_plus(void);
+
+unsigned char ring_num_get();
+unsigned char ring_is_full(void);
+
+#endif
+
--- /dev/null
+#include <stdio.h>
+#include <string.h>
+
+#include "ublox.h"
+#include "myuart.h"
+
+// UBX packet内のデータ位置
+#define UBX_CLASS 2
+#define UBX_PAYLOAD 6
+// payload長さからパケット全体の長さ(checksum含む)をget
+#define UBX_PKTLEN(len_payload) (len_payload + 8)
+
+
+
+// ublox_rcv_pkt()用
+#define UBX_STS_HEAD1 0
+#define UBX_STS_HEAD2 1
+#define UBX_STS_CLASS 2
+#define UBX_STS_ID 3
+#define UBX_STS_LEN1 4
+#define UBX_STS_LEN2 5
+#define UBX_STS_PAYLOAD 6
+#define UBX_STS_SUMA 7
+#define UBX_STS_SUMB 8
+
+/*
+ len: payload length
+ */
+void ublox_make_sum(unsigned char *pkt, unsigned int lenp, unsigned char *suma, unsigned char *sumb)
+{
+ unsigned int i;
+ *suma = 0;
+ *sumb = 0;
+ for(i = 0; i < lenp+4; i++) {
+ *suma += pkt[UBX_CLASS + i];
+ *sumb += *suma;
+ }
+}
+/*
+ * unsgined char len: payloadのバイト数
+ return: 作成したパケットpktのバイト数
+ */
+int ublox_make_cmd(unsigned char id1, unsigned char id2, unsigned int lenp, unsigned char *payload, unsigned char pkt[])
+{
+ unsigned char suma, sumb;
+
+ pkt[0] = 0xb5;
+ pkt[1] = 0x62;
+ pkt[2] = id1;
+ pkt[3] = id2;
+ pkt[4] = (0xFF & lenp);
+ pkt[5] = (0xFF & (lenp >> 8));
+ memcpy(&pkt[UBX_PAYLOAD], payload, lenp);
+ ublox_make_sum(pkt, lenp, &suma, &sumb);
+ pkt[UBX_PAYLOAD + lenp] = suma;
+ pkt[UBX_PAYLOAD + lenp + 1] = sumb;
+ return UBX_PKTLEN(lenp);
+}
+/*
+ Debug用
+ * GPS送信パケットのモニタ出力
+ */
+void ublox_debug_pkt_out(unsigned char *pkt, int len)
+{
+ unsigned int i;
+ char buf[16];
+
+ for(i = 0; i < len; i++) {
+ sprintf(buf, "%02X ", (unsigned char)(pkt[i] & 0xFF));
+ PDEBUG(buf);
+ }
+ PDEBUG("\r\n");
+}
+/*
+ ubloxにデータ送信
+ */
+void ublox_send(unsigned char *pkt, unsigned int len_pkt)
+{
+ unsigned int i;
+
+ for(i = 0; i < len_pkt; i++) {
+// while(U1STAbits.UTXBF==1); /* Wait until TX buf read for new data */
+ while(uart1_tx_is_full());
+ uart1_putc(pkt[i]);
+
+ }
+}
+
+/*
+ * CFG-PRT
+ * プロトコル選択
+*/
+void ublox_send_cfg_prt(unsigned long bps)
+{
+ const unsigned char lenp = 20;
+ unsigned char payload[lenp];
+ unsigned char pkt[32];
+ unsigned int i;
+ unsigned int len_pkt;
+
+ payload[0] = 0x01; // Port
+ payload[1] = 0x00;
+ payload[2] = 0x00; // TxReady
+ payload[3] = 0x00;
+ // mode
+ payload[4] = 0b11010000; // 8bit
+ payload[5] = 0b00001000; // 1stop non-parity
+ payload[6] = 0x00;
+ payload[7] = 0x00;
+ // baudrate
+ payload[8] = (bps & 0xFF);
+ payload[9] = ((bps >> 8)& 0xFF);
+ payload[10] = ((bps >> 16)& 0xFF);
+ payload[11] = ((bps >> 24)& 0xFF);
+ payload[12] = 0x01; // inProtoMask
+ payload[13] = 0x00;
+ payload[14] = 0x01; // outProtoMask
+ payload[15] = 0x00;
+ payload[16] = 0x00; // reserved
+ payload[17] = 0x00;
+ payload[18] = 0x00;
+ payload[19] = 0x00;
+
+ len_pkt = ublox_make_cmd(UBX_CLS_CFG, UBX_ID_CFG_PRT, lenp, payload, pkt);
+ ublox_send(pkt, len_pkt);
+
+}
+/*
+ CFG-NMEA
+ */
+void ublox_send_cfg_nmea(void)
+{
+ const unsigned char lenp = 4;
+ unsigned char payload[lenp];
+ unsigned char pkt[32];
+ unsigned int len_pkt;
+
+ payload[0] = 0x00;
+ payload[1] = 0x23;
+ payload[2] = 0xFF;
+ payload[3] = 0x02;
+
+ len_pkt = ublox_make_cmd(UBX_CLS_CFG, 0x17, lenp, payload, pkt);
+ ublox_send(pkt, len_pkt);
+}
+/*
+ * CFG-MSG
+ * パケットの出力レートを指定
+ */
+void ublox_send_cfg_msg(void)
+{
+ const unsigned char lenp = 3;
+ unsigned char payload[lenp];
+ unsigned char pkt[32];
+ unsigned int len_pkt;
+
+ payload[0] = UBX_CLS_NAV;
+ payload[1] = UBX_ID_NAV_TIMEUTC;
+ payload[2] = 1; // Rate[Hz]
+
+ len_pkt = ublox_make_cmd(UBX_CLS_CFG, UBX_ID_CFG_MSG, lenp, payload, pkt);
+ ublox_send(pkt, len_pkt);
+}
+/*
+ * CFG_TP5
+ * TIMEPULSE2
+ * AD用CLOCK出力
+ */
+void ublox_send_cfg_tp5_timepulse2(void)
+{
+ const unsigned char lenp = 32;
+ unsigned char payload[lenp];
+ unsigned char pkt[64];
+ unsigned int len_pkt;
+
+ memset(payload, 0, lenp);
+
+ payload[0] = 0x01; // Timepulse2
+
+ payload[4] = 50; // cable delay ns
+
+// payload[8] = 0x80; // Freq 10MHz
+// payload[9] = 0x96;
+// payload[10] = 0x98;
+// payload[11] = 0x00;
+
+ payload[8] = 0x00; // Freq 7.372800MHz
+ payload[9] = 0x80;
+ payload[10] = 0x70;
+ payload[11] = 0x00;
+
+// payload[12] = 0x80; // Freq locked 10MHz
+// payload[13] = 0x96;
+// payload[14] = 0x98;
+// payload[15] = 0x00;
+
+ payload[12] = 0x00; // Freq locked 7.372800MHz
+ payload[13] = 0x80;
+ payload[14] = 0x70;
+ payload[15] = 0x00;
+
+ payload[16] = 00; // Pulse Duty
+ payload[17] = 00;
+ payload[18] = 00;
+ payload[19] = 0x80;
+
+ payload[20] = 00; // Pulse Duty locked
+ payload[21] = 00;
+ payload[22] = 00;
+ payload[23] = 0x80;
+
+ // gridUtcGps,ploarity,alignToTow,isLength,isFreq,lockedOtherSet,LockGpsFreq,Active
+ payload[28] = 0b11101111; // Grid=GPS,Pol=Rise
+
+ len_pkt = ublox_make_cmd(UBX_CLS_CFG, UBX_ID_CFG_TP5, lenp, payload, pkt);
+ ublox_send(pkt, len_pkt);
+}
+
+/*
+ * CFG TP5
+ * TIMEPULSE1
+ * 1Hz OUT
+ */
+void ublox_send_cfg_tp5_timepulse1(void)
+{
+ const unsigned char lenp = 32;
+ unsigned char payload[lenp];
+ unsigned char pkt[64];
+ unsigned int len_pkt;
+
+ memset(payload, 0, lenp);
+
+ payload[0] = 0x00; //Timepulse1
+
+ payload[4] = 50; // cable delay ns
+
+ payload[8] = 0x40; // Period us
+ payload[9] = 0x42;
+ payload[10] = 0x0F;
+ payload[11] = 0x00;
+
+ payload[12] = 0x40; // Period Locked us
+ payload[13] = 0x42;
+ payload[14] = 0x0F;
+ payload[15] = 0x00;
+
+ payload[16] = 0x00; // Pulse width us
+ payload[17] = 0x00;
+ payload[18] = 0x00;
+ payload[19] = 0x00;
+
+// payload[20] = 0xA0; // Pulse width locked 100,000us
+// payload[21] = 0x86;
+// payload[22] = 0x01;
+// payload[23] = 0x00;
+
+ payload[20] = 0x20; // Pulse width locked 500,000us
+ payload[21] = 0xA1;
+ payload[22] = 0x07;
+ payload[23] = 0x00;
+
+ payload[20] = 0x00; // Pulse width locked 800,000us
+ payload[21] = 0x35;
+ payload[22] = 0x0C;
+ payload[23] = 0x00;
+
+
+ payload[28] = 0b11110111; // Grid=GPS,Pol=Rise
+
+ len_pkt = ublox_make_cmd(UBX_CLS_CFG, UBX_ID_CFG_TP5, lenp, payload, pkt);
+ ublox_send(pkt, len_pkt);
+}
+
+
+#if 0
+void ublox_rcv_poll(void)
+{
+ unsigned int i, data;
+ char buf[16];
+ unsigned char buf_rcv[48];
+
+ // Header wait
+ for(i = 0; i < 1000; i++) {
+// while(DataRdyUART1() == 0);
+// data = ReadUART1();
+ while(U1STAbits.URXDA == 0);
+ data = U1RXREG;
+ if ((data & 0xFF) == 0xB5) break;
+ }
+ // rcv
+ for(i = 0; i < 48; i++) {
+ if (U1STAbits.OERR == 1) {
+ U1STAbits.OERR = 0;
+ }
+ buf_rcv[i]= U1RXREG;
+ while(U1STAbits.URXDA == 0);
+ }
+ // debug out
+ for(i = 0; i < 48; i++) {
+// while(DataRdyUART1() == 0);
+// data = ReadUART1();
+ sprintf(buf, "%02X ", buf_rcv[i]);
+ PDEBUG(buf);
+ }
+
+ PDEBUG("\r\n");
+}
+#endif
+void ublox_rcv_poll(void)
+{
+ unsigned int i, data;
+ char buf[16];
+
+ // Header wait
+ for(i = 0; i < 1000; i++) {
+// while(DataRdyUART1() == 0);
+// data = ReadUART1();
+ while(uart1_rcvbuf_is_data() == 0);
+ data = uart1_rcvbuf_getc();
+ sprintf(buf, "%02X ", data);
+ PDEBUG(buf);
+ }
+}
+
+/*
+ * 受信バッファから1packet取り出す
+ * UART割り込み使用
+ * return
+ * 0=受信OK
+ * -1=受信エラー or タイムアウト
+ */
+//TODO: timeout処理, timeout指定
+//TODO: check sum check
+int ublox_rcv_pkt(unsigned char *class, unsigned char *id, unsigned int *len, unsigned char *payload)
+{
+ unsigned int i, data;
+ char sts = UBX_STS_HEAD1;
+ unsigned int ptr;
+ unsigned char suma, sumb;
+
+ while(1) {
+ while(uart1_rcvbuf_is_data() == 0);
+ data = uart1_rcvbuf_getc();
+ switch(sts) {
+ case UBX_STS_HEAD1:
+ if (data == 0xB5) sts = UBX_STS_HEAD2;
+ break;
+ case UBX_STS_HEAD2:
+ if (data == 0x62) sts = UBX_STS_CLASS;
+ break;
+ case UBX_STS_CLASS:
+ *class = data;
+ sts = UBX_STS_ID;
+ break;
+ case UBX_STS_ID:
+ *id = data;
+ sts = UBX_STS_LEN1;
+ break;
+ case UBX_STS_LEN1:
+ *len = data;
+ sts = UBX_STS_LEN2;
+ break;
+ case UBX_STS_LEN2:
+ *len += ((data << 8) & 0xFF00);
+ ptr = 0;
+ sts = UBX_STS_PAYLOAD;
+ break;
+ case UBX_STS_PAYLOAD:
+ payload[ptr++] = data;
+ if (ptr >= *len) sts = UBX_STS_SUMA;
+ break;
+ case UBX_STS_SUMA:
+ suma = data;
+ sts = UBX_STS_SUMB;
+ break;
+ case UBX_STS_SUMB:
+ sumb = data;
+ return 0;
+ }
+ }
+}
+/*
+ * 受信バッファからACKまたはNAKを取り出す
+ * return
+ * 1=ACK受信
+ * 0=NACK受信
+ * -1=timeout
+ */
+// TODO: timeout処理,timeoutを引数で指定
+int ublox_rcv_ack(void)
+{
+ unsigned char class, id;
+ unsigned int len;
+ unsigned char payload[128];
+
+ while(1) {
+ ublox_rcv_pkt(&class, &id, &len, payload);
+ if (class == 0x05 && id == 0x01) {
+ // ACK
+ PDEBUG("ACK\r\n");
+ return 1;
+ } else if (class == 0x05 && id == 0x00) {
+ // NACK
+ PDEBUG("NACK\r\n");
+ return 0;
+ }
+ }
+}
--- /dev/null
+#ifndef __UBLOX_H__
+
+#define __UBLOX_H__
+
+#include "myuart.h"
+
+// UBXパケットID
+#define UBX_CLS_CFG 0x06
+#define UBX_CLS_NAV 0x01
+
+// CFG-
+#define UBX_ID_CFG_PRT 0x00
+#define UBX_ID_CFG_TP5 0x31
+#define UBX_ID_CFG_MSG 0x01
+// NAV-
+#define UBX_ID_NAV_TIMEUTC 0x21
+
+void ublox_make_sum(unsigned char *pkt, unsigned int lenp, unsigned char *suma, unsigned char *sumb);
+int ublox_make_cmd(unsigned char id1, unsigned char id2, unsigned int lenp, unsigned char *payload, unsigned char pkt[]);
+void ublox_debug_pkt_out(unsigned char *pkt, int len);
+void ublox_send(unsigned char *pkt, unsigned int len_pkt);
+
+void ublox_send_cfg_prt(unsigned long bps);
+void ublox_send_cfg_nmea(void);
+void ublox_send_cfg_tp5_timepulse2(void);
+void ublox_send_cfg_msg(void);
+
+void ublox_send_cfg_tp5_timepulse1(void);
+
+//void ublox_rcv_poll(void);
+#define ublox_rcvbuf_clear() uart1_rcvbuf_clear()
+
+int ublox_rcv_pkt(unsigned char *class, unsigned char *id, unsigned int *len, unsigned char *payload);
+int ublox_rcv_ack(void);
+
+#endif
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