7 * Created on February 9, 2010, 10:53 AM
12 #include <p24FJ64GA004.h>
18 #include "debug_print.h"
27 _CONFIG1( JTAGEN_OFF & GCP_OFF & GWRP_OFF & COE_OFF & FWDTEN_OFF & ICS_PGx2 )
28 //_CONFIG2( FCKSM_CSDCMD & OSCIOFNC_ON & POSCMOD_OFF & FNOSC_FRC)
29 #pragma config FCKSM = CSDCMD, OSCIOFNC = ON, POSCMOD = OFF, FNOSC = FRC, FPBDIV = DIV_8
31 //#define CPU_CLOCK 10000000 // クロック[ Hz ]
32 //#define CPU_PLL 8 // PLL
33 //#define CLOCK_FREQUENCY ( ( CPU_CLOCK * CPU_PLL ) / 4 ) // 動作周波数[ Hz ]
34 //#define FOSC 4000000L
36 #define BAUDRATE2 9600L
38 #define BAUDRATE1 9600L
40 /*** ADバッファ *************************************************
45 #define ADBUF_BYTE 3 // AD 1CH 1sample dataのbyte数
48 UbloxNavTimeUtc t; // タイムスタンプ
49 long data1sec[AD_CHNUM]; // 1sec平均値
50 unsigned char data[AD_CHNUM][ADBUF_BYTE*AD_SAMPLE]; // AD_SAMPLE[Hz]のデータ
52 static ADbufType adbuf[RING_NUM];
54 // SPI外部送信用バッファ AD_SAMPLE[Hz]
55 //static char adbuf[RING_NUM][AD_CHNUM][ADBUF_BYTE*AD_SAMPLE];
57 //static long adbuf_1sec[RING_NUM][AD_CHNUM];
59 //static UbloxNavTimeUtc adbuf_t[RING_NUM];
61 #define adbuf_get(buf_no) (&adbuf[buf_no])
62 #define adbuf_data_get(buf_no) (adbuf[buf_no].data)
63 #define adbuf_1sec_get(buf_no) (adbuf[buf_no].data1sec)
64 #define adbuf_time_get(buf_no) (&(adbuf[buf_no].t))
66 inline void my_memcpy(void *dest0, void *src0, int len)
73 for(i = 0; i < len; i++) {
77 inline void my_memset(void *dest0, unsigned char data, int len)
83 for(i = 0; i < len; i++) {
87 inline void adbuf_write(unsigned char buf_no, unsigned char ch, int cnt, long *data)
89 unsigned char *ptr = (unsigned char*)data;
92 for(i = 0; i < ADBUF_BYTE; i++) {
93 adbuf->data[ch][ADBUF_BYTE*cnt + i] = *(ptr++);
97 inline void adbuf_1sec_write(char buf_no, long *data)
99 my_memcpy(adbuf_1sec_get(buf_no), data, sizeof(long) * AD_CHNUM);
101 for(ch = 0; ch < AD_CHNUM; ch++)
102 adbuf_1sec[buf_no][ch] = data[ch];
105 inline void adbuf_time_write(char buf_no, UbloxNavTimeUtc *t)
107 // my_memcpy(&adbuf_t[buf_no], t, sizeof(UbloxNavTimeUtc));
108 my_memcpy(adbuf_time_get(buf_no), t, sizeof(UbloxNavTimeUtc));
111 /**** ublox *************************************************/
113 void test_ublox_rcv_mon(void)
115 unsigned char class, id;
117 unsigned char payload[128];
119 UbloxNavTimeUtc *gps, gps1;
124 ublox_rcv_pkt(&class, &id, &len, payload);
125 sprintf(sz, "CLASS=%02X ID=%02X LEN=%d\r\n", class, id, len);
127 ublox_debug_pkt_out(payload, len);
128 ublox_decode_nav_timeutc(payload, gps);
129 sprintf(sz, "%04u/%02d/%02d %02d:%02d:%02d.%09ld %6lums %6luns %02X\r\n",
130 gps->year, gps->month, gps->day, gps->hour, gps->min, gps->sec, gps->nano,
131 gps->tow, gps->tacc, gps->valid
137 static UbloxNavTimeUtc gpsNow;
138 static void ublox_rcv(void)
140 unsigned char class, id;
142 unsigned char payload[128];
144 UbloxNavTimeUtc *gps = &gpsNow;
146 ublox_rcv_pkt(&class, &id, &len, payload);
147 // sprintf(sz, "CLASS=%02X ID=%02X LEN=%d\r\n", class, id, len);
149 // ublox_debug_pkt_out(payload, len);
150 if (class == UBX_CLS_NAV && id == UBX_ID_NAV_TIMEUTC && len == UBX_LEN_NAV_TIMEUTC) {
151 ublox_decode_nav_timeutc(payload, gps);
152 /* sprintf(sz, "%04u/%02d/%02d %02d:%02d:%02d.%09ld %6lums %6luns %02X\r\n",
153 gps->year, gps->month, gps->day, gps->hour, gps->min, gps->sec, gps->nano,
154 gps->tow, gps->tacc, gps->valid
161 /**** INT1/SPI1 ***********************************************/
163 * INT1 Int及びSPI1 IntでADのデータを取得する
171 static char adint_ch; // 取得中のCH
172 static char adint_cnt = 0; // 0〜AD_SAMPLE-1
173 static char adint_sts = ADSTS_IDLE;
174 static long adint_add[AD_CHNUM]; // 1秒平均用加算
176 /**** 1PPS ********************************************/
177 static char pps_intf;
179 #define pps_intf_clear() pps_intf = 0
180 #define pps_intf_set() pps_intf = 1
181 #define pps_is_intf_enable() (pps_intf != 0)
186 void test_spi_flag(void)
190 unsigned char txc = 0;
197 sprintf(sz, "SPI2STAT=%04X "
198 "SPIBEC=%d SRMPT=%d SPIROV=%d SRXMPT=%d TBF=%d RBF=%d\r\n"
200 , SPI2STATbits.SPIBEC
202 , SPI2STATbits.SPIROV
203 , SPI2STATbits.SRXMPT
204 , SPI2STATbits.SPITBF
205 , SPI2STATbits.SPIRBF
208 if ((in = uart2_rcvbuf_getc()) >= 0) {
215 sprintf(sz, "RX=%02X\r\n", rxc);
220 sprintf(sz, "TX=%02X\r\n", txc);
224 spi2_rx_overrun_clear();
227 SPI2STATbits.SRXMPT = 0;
230 SPI2STATbits.SRXMPT = 1;
239 void test_spi_send(void)
241 unsigned char txc = 1;
250 while(SPI2STATbits.SPITBF == 0) {
254 if (SPI2STATbits.SRXMPT == 0) {
255 while(SPI2STATbits.SRXMPT == 0) {
260 sprintf(sz, "SPI2STAT=%04X "
261 "SPIBEC=%d SRMPT=%d SPIROV=%d SRXMPT=%d TBF=%d RBF=%d\r\n"
263 , SPI2STATbits.SPIBEC
265 , SPI2STATbits.SPIROV
266 , SPI2STATbits.SRXMPT
267 , SPI2STATbits.SPITBF
268 , SPI2STATbits.SPIRBF
279 int main(int argc, char** argv) {
282 const double Baudrate2 = ( double )FCY / ( 16 * BAUDRATE2 ) - 1;
283 // ボーレートの小数点以下を四捨五入する
284 unsigned int baudrate2 = ( unsigned int )( Baudrate2 + 0.5 );
286 const double Baudrate1 = ( double )FCY / ( 16 * BAUDRATE1 ) - 1;
287 // ボーレートの小数点以下を四捨五入する
288 unsigned int baudrate1 = ( unsigned int )( Baudrate1 + 0.5 );
290 UbloxNavTimeUtc *gps = &gpsNow;
294 __builtin_write_OSCCONL(OSCCON & 0xbf); //clear the bit 6 of OSCCONL to unlock Pin Re-map
299 RPINR18bits.U1RXR = 6; // UART1 RX to RP6
300 RPOR2bits.RP5R = 3; // UART1 TX(3) to RP5
302 RPINR19bits.U2RXR = 21; // UART2 RX to RP21
303 RPOR10bits.RP20R = 5; // UART2 TX(5) to RP20
305 RPOR12bits.RP25R = 0; // RC9
307 // DataOut SPI2 pin config
308 RPINR22bits.SDI2R = 13; // SPI2 RX to RP13
309 RPINR22bits.SCK2R = 23; // SPI2 CLK to RP23
310 RPINR23bits.SS2R = 24; // SPI2 SS to RP24
311 RPOR11bits.RP22R = 10; // SPI1 SDO2(10) to RP22
312 // AD SPI1 pin config
313 RPINR20bits.SDI1R = 18; // SPI1 RX to RP18
314 RPOR8bits.RP16R = 8; // SPI1 SCK1(8) to RP16
315 RPOR8bits.RP17R = 7; // SPI1 SDO1(7) to RP17
316 // TRISx 1=input 0=output
317 TRISA = 0x0000; // PortA RA7,8,9 output
319 TRISB = 0b0011000011000000; // PortB RB13(RP13),RB12,RB7,RB6(RP6) input
320 TRISC = 0x01A4; // ポートC RC8(RP24),RC7(RP23),RC5(RP21),RC2(RP18) input
321 CLKDIV = 0; // CPU Peripheral Clock Ratio=1:1
322 AD1PCFG = 0xFFFF; // AN1-12input pin = Digital mode
324 // INT1(RP12 RB12) AD -DRDY0 setup
325 RPINR0bits.INT1R = 12; // RP12(RB12)
327 int1_level_set(4); // Int priority
328 int1_edge_neg(); // Negative Edge
329 // INT0(RB7) GPS +PPS setup
331 int0_level_set(4); // INT Priority
332 int0_edge_pos(); // Positive Edge
333 // ChangeNotification INT, CN20(RC8), SPI2(Overo) CS0
335 CNEN2bits.CN20IE = 1;
336 CNPU2bits.CN20PUE = 1; // Pullup ON
345 // GPS UART1初期設定 BRGH=Standard mode
346 // 9600bps 8bit nonparity 1stop nonflowcnt.
348 unsigned int U1MODEvalue = 0b1000100000000000;
349 unsigned int U1STAvalue = 0b0000010000000000;
350 // OpenUART1( U1MODEvalue, U1STAvalue, baudrate1);
351 uart1_init( U1MODEvalue, U1STAvalue, baudrate1);
352 // DEBUG UART2初期設定 BRGH=Standard mode
353 // 9600bps 8bit nonparity 1stop nonflowcnt.
355 unsigned int U2MODEvalue = 0b1000100000000000;
356 unsigned int U2STAvalue = 0b0000010000000000;
357 uart2_init( U2MODEvalue, U2STAvalue, baudrate2);
366 puts("START debug\r\n");
367 sprintf(sz, "RPINR20=%04X\r\n", RPINR20);
369 sprintf(sz, "SPI1CON1=%04X\r\n", SPI1CON1);
371 sprintf(sz, "SPI1CON2=%04X\r\n", SPI1CON2);
373 sprintf(sz, "SPI1STAT=%04X\r\n", SPI1STAT);
376 // GPS UART1 受信割り込み許可
377 uart1_rx_int_enable();
378 uart1_set_int_level(4); // 割り込みレベル デフォルト4
379 // DebugOut UART2 受信割り込み許可
380 uart2_rx_int_enable();
381 uart2_set_int_level(4); // 割り込みレベル デフォルト4
383 //**** 割り込み許可 **************************************************
384 // CPU割り込み優先レベル デフォルト0 ペリフェラルはデフォルト4
389 ublox_rcvbuf_clear();
390 ublox_send_cfg_prt(BAUDRATE1);
392 // TimePulse2にAD用クロック出力する
393 ublox_rcvbuf_clear();
394 ublox_send_cfg_tp5_timepulse2();
397 ublox_send_cfg_msg();
405 ad_reset(); // -AD RESET
406 // WAIT 2^16 AD system clocks
414 // AD SPI1 割り込み設定のみ 許可しない
417 spi1_set_int_level(4);
421 int1_int_enable(); // Int enable
424 int0_int_enable(); // Int enable
425 // DataOut SPI2 割り込み許可しない CSのCN INTで許可するので
427 spi2_set_int_level(4);
428 // spi2_int_enable();
429 // ChangeNotification INT許可 SPI2(Overo) CS
432 /****!!!!!!!!!!!!!!!!!!!!!!!!*/
439 if (gpsNow.valid == 0x07 && sts_get() == STS_NOSYNC) {
441 sts_set(STS_SYNCNOW0);
443 if (ring_read_get() != ring_write_get()) {
445 gps = adbuf_time_get(ring_read_get());
446 sprintf(sz, "%04u/%02d/%02d %02d:%02d:%02d.%09ld,%6lums,%6luns,%02X",
447 gps->year, gps->month, gps->day, gps->hour, gps->min, gps->sec, gps->nano,
448 gps->tow, gps->tacc, gps->valid
456 lp = adbuf_1sec_get(ring_read_get());
457 for(ch=0; ch<AD_CHNUM; ch++) {
458 sprintf(sz, ",%+7ld", lp[ch]);
467 if (pps_is_intf_enable()) {
473 if (ring_read_get() != ring_write_get()) {
475 for(ch=0; ch<AD_CHNUM; ch++) {
476 sprintf(sz, "%+7ld,", adbuf_1sec[ring_read_get()][ch]);
486 return (EXIT_SUCCESS);
489 * INT0 GPS 1PPS割り込みハンドラ
493 void __attribute__((interrupt, no_auto_psv)) _INT0Interrupt(void)
500 /****AD同期!!!!!!!!!!!!!!!*/
501 // AD個数カウンタ=SAMP_FREQ-1
502 adint_cnt = AD_SAMPLE - 1;
505 adbuf_time_write(ring_read_get(), &gpsNow);
508 if (sts_get() == STS_SYNCNOW0) {
511 sts_set(STS_SYNCNOW1);
512 } else if (sts_get() == STS_SYNCNOW1) {
515 sts_set(STS_SYNCWAIT);
516 } else if (sts_get() == STS_SYNCWAIT) {
522 * INT1(RP12) AD DRDY0割り込みハンドラ
524 * SPI1受信開始してSPI1割り込み有効にする
527 void __attribute__((interrupt, no_auto_psv)) _INT1Interrupt(void)
528 //void _ISR _INT1Interrupt(void)
531 if (!ad_is_drdy0_enable()) {
537 if (adint_cnt == 0) {
538 my_memset(adint_add, 0, sizeof(adint_add));
541 ad_cs(adint_ch); // CSx=L
542 spi1_rx_overrun_clear();
552 * AD SPI1 Interrupt Handler
553 * ADから受信したデータをADバッファに格納する
554 * 6CHぶん受信したらSPI1割り込みをOFF
557 //void _ISR _SPI1Interrupt(void)
558 void __attribute__((interrupt, auto_psv)) _SPI1Interrupt(void)
560 static unsigned char in[3];
566 spi1_rx_overrun_clear();
567 //spi1_int_disable();
586 l = byte3_to_long(in);
588 adbuf_write(ring_write_get(), adint_ch, adint_cnt, &l);
590 adint_add[adint_ch] += l;
593 if (adint_ch >= AD_CHNUM) {
596 if (adint_cnt >= AD_SAMPLE) {
600 for(ch = 0; ch < AD_CHNUM; ch++) {
601 adint_add[ch] /= adint_cnt;
604 adbuf_1sec_write(ring_write_get(), adint_add);
609 spi1_int_disable(); // SPI割り込みOFF
610 adint_sts = ADSTS_IDLE;
613 ad_cs(adint_ch); // CSx=L
621 spi1_int_disable(); // SPI割り込みOFF
622 adint_sts = ADSTS_IDLE;
629 * DataOut SPI2 Interrupt Handler
630 * TX FIFOに1byteの空きが出来ると発生
632 static unsigned char spi2c;
633 void __attribute__((interrupt, auto_psv)) _SPI2Interrupt(void)
636 static unsigned int txlen = 512;
639 // static unsigned char c=0;
640 while(!spi2_tx_fifo_is_full())
642 while(!spi2_rx_fifo_is_empty()) {
644 // if (rx == '$') c = 0;
650 // while(!spi2_rx_fifo_is_empty() || (!spi2_tx_fifo_is_full() && txlen > 0)) {
651 while(!spi2_rx_fifo_is_empty()) {
652 if (!spi2_rx_fifo_is_empty()) {
660 if (!spi2_tx_fifo_is_full()) {
669 // spi2_rx_is_overrun()
670 if (SPI2STATbits.SPIROV == 1) SPI2STATbits.SPIROV = 0;
672 // TODO:Interrupt Flag@IEC Clear
675 * Overo SPI2 CS Input Change Notification
679 #define SPI2CSpin (PORTCbits.RC8)
680 void __attribute__((interrupt, auto_psv)) _CNInterrupt(void)
683 if (SPI2CSpin == 1) {
696 // SPI2 TX FIFOに送信データ書き込み?
721 unsigned int c = 0x12;
723 unsigned int sts = 0;
733 // while(spi2_tx_fifo_is_full());
735 // while(spi2_rx_fifo_is_empty());
738 while(spi2STATbits.SPIRBF == 0);
740 if (spi2STATbits.SPITBF == 0) {
743 // while(spi2STATbits.SPIRBF == 1) {
749 if (spi2STATbits.SPIROV == 1) spi2STATbits.SPIROV = 0;
750 sprintf(sz, "%d %04X\r\n", i, sts);
753 // while(spi2STATbits.SPITBF == 1);
754 // while(spi2STATbits.SPITBF);
756 while(!spi2_tx_fifo_is_full())
758 while(!spi2_rx_fifo_is_empty()) {
760 if (rx == '$') c = 0;
776 while(!ad_is_drdy0_enable());
778 for(cs=0; cs<6; cs++) {
780 in[2] = ad_spi_rcv();
781 in[1] = ad_spi_rcv();
782 in[0] = ad_spi_rcv();
784 l[cs] = byte3_to_long(in);
785 // sprintf(sz, "%02X %02X %02X", in[2], in[1], in[0]);
788 for(cs=0; cs<6; cs++) {
789 sprintf(sz, "%+7ld,", l[cs]);