11/11/21 17H

ublox NAV-TIMEUTC decode
byte2var.c add
add no_auto_psv to ISR

diff --git a/build/default/production/byte2var.o b/build/default/production/byte2var.o
new file mode 100644 (file)
index 0000000..1141ebc
Binary files /dev/null and b/build/default/production/byte2var.o differ

diff --git a/build/default/production/byte2var.o.d b/build/default/production/byte2var.o.d
new file mode 100644 (file)
index 0000000..0bb2ddd
--- /dev/null
+++ b/build/default/production/byte2var.o.d
@@ -0,0 +1 @@
+build/default/production/byte2var.o: byte2var.c

diff --git a/build/default/production/main.o b/build/default/production/main.o
index 84f0b56..f6b8df8 100644 (file)
Binary files a/build/default/production/main.o and b/build/default/production/main.o differ

diff --git a/build/default/production/main.o.d b/build/default/production/main.o.d
index ee942d5..d89bbc0 100644 (file)
--- a/build/default/production/main.o.d
+++ b/build/default/production/main.o.d
@@ -1,2 +1,2 @@
 build/default/production/main.o: main.c myuart.h myspi.h debug_print.h \
-  ublox.h myad.h delay.h ring.h
+  ublox.h myad.h delay.h ring.h byte2var.h

diff --git a/build/default/production/myuart.o b/build/default/production/myuart.o
index 1d1fc9f..0df4aee 100644 (file)
Binary files a/build/default/production/myuart.o and b/build/default/production/myuart.o differ

diff --git a/build/default/production/ublox.o b/build/default/production/ublox.o
index c99c55f..cc9b21e 100644 (file)
Binary files a/build/default/production/ublox.o and b/build/default/production/ublox.o differ

diff --git a/build/default/production/ublox.o.d b/build/default/production/ublox.o.d
index 4808e7c..e6d7022 100644 (file)
--- a/build/default/production/ublox.o.d
+++ b/build/default/production/ublox.o.d
@@ -1 +1 @@
-build/default/production/ublox.o: ublox.c ublox.h myuart.h
+build/default/production/ublox.o: ublox.c ublox.h myuart.h byte2var.h

diff --git a/byte2var.c b/byte2var.c
new file mode 100644 (file)
index 0000000..33dc9f0
--- /dev/null
+++ b/byte2var.c
@@ -0,0 +1,21 @@
+#include <string.h>
+
+/*
+ * 3byte binary -> signed long
+ * In: Litte Endian
+ * Out: Little Endian
+ */
+long byte3_to_long(unsigned char *in)
+{
+    long    out;
+    unsigned char    *ptr = (unsigned char*)&out;
+
+    memcpy(ptr, in, 3);
+
+    if (in[2] & 0x80) {
+        ptr[3] = 0xFF;
+    } else {
+        ptr[3] = 0x00;
+    }
+    return out;
+}

diff --git a/byte2var.h b/byte2var.h
new file mode 100644 (file)
index 0000000..83a1219
--- /dev/null
+++ b/byte2var.h
@@ -0,0 +1,22 @@
+/*
+ * In: Litte Endian
+ * Out: Little Endian
+ */
+
+#ifndef __BYTE2VAR_H__
+
+#define __BYTE2VAR_H__
+
+
+#define byte4_to_long(in)   (*((long*)(in)))
+#define byte4_to_ulong(in)   (*((unsigned long*)(in)))
+#define byte2_to_int(in)   (*((int*)(in)))
+#define byte2_to_uint(in)   (*((unsigned int*)(in)))
+#define byte1_to_char(in)   (*((char*)(in)))
+#define byte1_to_uchar(in)   (*((unsigned char*)(in)))
+
+long byte3_to_long(unsigned char *in);
+
+#endif
+
+

diff --git a/dist/default/production/ad2010.production.hex b/dist/default/production/ad2010.production.hex
index cb54574..fc0bf5b 100644 (file)
--- a/dist/default/production/ad2010.production.hex
+++ b/dist/default/production/ad2010.production.hex
@@ -1,11 +1,11 @@
 :020000040000fa
 :080000000002040000000000f2
 :020000040000fa
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-:100410000c0007008053210001002000110007009c
+:100400000fff21000e7f22000e0188000000000077
+:100410000c000700a05c2100010020001100070073
 :10042000000020000000e000020032000000020096
-:1004300000000000900d0200000000000040da0003
-:100440000000fe004440a900800820000000e000f9
+:1004300000000000f60d0200000000000040da009d
+:100440000000fe004440a900000c20000000e00075
 :100450000300320000002000a00188004440a800f2
 :100460000000060091018800800078000000eb0089
 :1004700015003700e280400032a0b4009101ba00bc
@@ -344,13 +344,13 @@
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 :100028009002000090020000900200009002000080
 :100038009002000090020000900200009002000070
-:100048009002000090020000500f000016160000f9
+:100048009002000090020000be0f0000a8160000f9
 :100058009002000090020000900200009002000050
 :100068009002000090020000900200009002000040
-:10007800fa0e0000900200009002000090020000ba
+:10007800700f000090020000900200009002000043
 :100088009002000090020000900200009002000020
 :100098009002000090020000900200009002000010
-:1000a800900200004810000090020000900200003a
+:1000a80090020000ae1000009002000090020000d4
 :1000b80090020000900200009002000090020000f0
 :1000c80090020000900200009002000090020000e0
 :1000d80090020000900200009002000090020000d0
@@ -377,13 +377,13 @@
 :10021800900200009002000090020000900200008e
 :10022800900200009002000090020000900200007e
 :10023800900200009002000090020000900200006e
-:100248009002000090020000500f000016160000f7
+:100248009002000090020000be0f0000a8160000f7
 :10025800900200009002000090020000900200004e
 :10026800900200009002000090020000900200003e
-:10027800fa0e0000900200009002000090020000b8
+:10027800700f000090020000900200009002000041
 :10028800900200009002000090020000900200001e
 :10029800900200009002000090020000900200000e
-:1002a8009002000048100000900200009002000038
+:1002a80090020000ae1000009002000090020000d2
 :1002b80090020000900200009002000090020000ee
 :1002c80090020000900200009002000090020000de
 :1002d80090020000900200009002000090020000ce
@@ -409,364 +409,386 @@
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+:102c040000000000c01f00000600000000000000db
+:102c1400d01e0000a000000002000000010000001f
+:102c24000000000000000a00000000000000000096
+:102c3400006400000000000000000000e803000041
+:102c44000000000000001000270000000000000049
+:102c540000a08600010000000000000040420f00b8
+:102c640000000000000080009698000000000000b2
+:102c74000000e100f50500000000000000ca9a0011
+:102c84003b00000000000000e40b540002000000c0
+:102c94000000e80076481700000000000010a500be
+:102ca400d4e8000000000000a0724e0018090000e3
+:102cb400000040007a10f3005a0000000080c600b3
+:102cc400a47e8d000300000000c16f00f286230083
+:102cd400000000008a5d7800456301000000640084
+:102ce400a7b3b600e00d000000e889000423c70084
+:102cf4008a000000701f00002a000000020000008b
+:102d0400286e75006c6c29000030310032333400b9
+:102d14003536370038394100424344004546000007
+:102d240030313200333435003637380039616200cf
+:102d34006364650066000000c61f00000200000016
+:0c2d440002000000010000000000000080
 :020000040000fa
-:102c2c00809fbe00829fbe003400f8000000200090
-:102c3c00a00188008560a90022c2bf000008a30083
-:102c4c000c00320082dc210012417800a3dc210050
-:102c5c00301180008280fb0080f079000241e80096
-:102c6c0022c2bf000008a300f9ff3a00020078005e
-:102c7c00c8fdb70022c2bf000018a300010032003b
-:102c8c002222a9003400f9004f01be004f00be0003
-:102c9c000040060000017800904078000104e0003c
-:102cac000800320023c2bf000018a300fdff3a0049
-:102cbc000100fb0020118800d24078000104e000e4
-:102ccc00f8ff3a0000000600000178009040780000
-:102cdc000104e0000800320033c2bf000018a3005a
-:102cec00fdff3a000100fb00a0118800d2407800e3
-:102cfc000104e000f8ff3a00000006008040eb0001
-:102d0c00c8ddbf00c95de30001003a0011c0b3008b
-:102d1c00014078000004a2000080fb0000000600c7
-:102d2c0092dc2100124178008080eb00c8ddbf00ee
-:102d3c000014e100060032008280fb00a0dc2100c0
-:102d4c00614078008080fb000240e800c9fdb700bc
-:102d5c000100780000000600c8ddbf00c9fdb70007
-:102d6c000000060000118800111188004211880033
-:102d7c000040eb00c8fdb700c9fdb700000006001d
-:102d8c008011880091118800c21188000000060093
-:102d9c000040eb00cafeb700cbfeb70060c0b3002a
-:102dac00ccfeb70000000600cbdebf000080fb00ad
-:102dbc0000000600cbfeb70000000600cb5eec0066
-:102dcc00cbfeb700c1ec2100914078000104e1007a
-:102ddc0001003900cb7eef0000000600cadebf0008
-:102dec000080fb0000000600ca5eec00cafeb700c3
-:102dfc00c1ec2100914078000104e1000100390090
-:102e0c00ca7eef0000000600b1ec21009140780072
-:102e1c00a0ec210090c0100002003b00ccdebf00f3
-:102e2c0080c040000180fb0000000600881f780075
-:102e3c000004eb00f4ff07000080fb00c1ec210054
-:102e4c00914078008180fb008100e900810f5000e7
-:102e5c000100350018002000080078004f047800ad
-:102e6c00000006004022ef0001012000401280000b
-:102e7c008100e900fdff3a008540a900e023200015
-:102e8c00101288002112880040c2a90041e2a8005b
-:102e9c00000006006022ef000201200040138000b9
-:102eac000201e900fdff3a008820a90060c2bf00c2
-:102ebc0031ceb300014060000044a00060e2b700d6
-:102ecc000010200010138800221388006322a90030
-:102edc0062e2a80060c2a9006402a80061e2a80036
-:042eec0000000600dc
+:102d5000809fbe00829fbe008560a90022c2bf0086
+:102d60000008a3000c00320082dc21001241780030
+:102d7000a3dc2100301180008280fb0080f079000c
+:102d80000241e80022c2bf000008a300f9ff3a0098
+:102d900002007800c8fdb70022c2bf000018a300df
+:102da000010032002222a9004f01be004f00be00e8
+:102db0000040060000017800904078000104e00027
+:102dc0000800320023c2bf000018a300fdff3a0034
+:102dd0000100fb0020118800d24078000104e000cf
+:102de000f8ff3a00000006000001780090407800eb
+:102df0000104e0000800320033c2bf000018a30045
+:102e0000fdff3a000100fb00a0118800d2407800cd
+:102e10000104e000f8ff3a00000006008040eb00eb
+:102e2000c8ddbf00c95de30001003a0011c0b30076
+:102e3000014078000004a2000080fb0000000600b2
+:102e400092dc2100124178008080eb00c8ddbf00d9
+:102e50000014e100060032008280fb00a0dc2100ab
+:102e6000614078008080fb000240e800c9fdb700a7
+:102e70000100780000000600c8ddbf00c9fdb700f2
+:102e8000000006000011880011118800421188001e
+:102e90000040eb00c8fdb700c9fdb7000000060008
+:102ea0008011880091118800c2118800000006007e
+:102eb0000040eb00cafeb700cbfeb70060c0b30015
+:102ec000ccfeb70000000600cbdebf000080fb0098
+:102ed00000000600cbfeb70000000600cb5eec0051
+:102ee000cbfeb700c1ec2100914078000104e10065
+:102ef00001003900cb7eef0000000600cadebf00f3
+:102f00000080fb0000000600ca5eec00cafeb700ad
+:102f1000c1ec2100914078000104e100010039007a
+:102f2000ca7eef0000000600b1ec2100914078005d
+:102f3000a0ec210090c0100002003b00ccdebf00de
+:102f400080c040000180fb0000000600881f780060
+:102f50000004eb00f4ff07000080fb00c1ec21003f
+:102f6000914078008180fb008100e900810f5000d2
+:102f70000100350018002000080078004f04780098
+:102f8000000006004022ef000101200040128000f6
+:102f90008100e900fdff3a008540a900e023200000
+:102fa000101288002112880040c2a90041e2a80046
+:102fb000000006006022ef000201200040138000a4
+:102fc0000201e900fdff3a008820a90060c2bf00ad
+:102fd00031ceb300014060000044a00060e2b700c1
+:102fe0000010200010138800221388006322a9001b
+:102ff00062e2a80060c2a9006402a80061e2a80021
+:10300000000006000400fa00648157008000780088
+:1030100031597800315978001149780020409000ea
+:103020000004e00003003d0000c0eb00f0ff9f0043
+:10303000020037000040eb00f0ff9f006fb89700e0
+:0c304000ffb897000080fa0000000600b6
 :020000040000fa
-:102ef000f03fb1000180b10006003500ee0309008b
-:102f000000000000403fb1000180b100fbff3d0028
-:102f10001000b000203fb000020035000080090022
-:082f20000000000000000600a3
+:10304c00f03fb1000180b10006003500ee0309002d
+:10305c0000000000403fb1000180b100fbff3d00cb
+:10306c001000b000203fb0000200350000800900c5
+:08307c00000000000000060046
 :020000040000fa
-:082f28006aff0700000006002b
+:0830840058ff070000000600e0
 :00000001FF

diff --git a/dist/default/production/ad2010.production.out b/dist/default/production/ad2010.production.out
index 75a5b80..c7b34af 100755 (executable)
Binary files a/dist/default/production/ad2010.production.out and b/dist/default/production/ad2010.production.out differ

diff --git a/main.c b/main.c
index ffd7ac5..58ee41c 100644 (file)
--- a/main.c
+++ b/main.c
@@ -17,6 +17,7 @@
 #include "myad.h"
 #include "delay.h"
 #include "ring.h"
+#include "byte2var.h"
 
 _CONFIG1( JTAGEN_OFF & GCP_OFF & GWRP_OFF & COE_OFF & FWDTEN_OFF & ICS_PGx2 )
 //_CONFIG2( FCKSM_CSDCMD & OSCIOFNC_ON & POSCMOD_OFF & FNOSC_FRC)
@@ -64,11 +65,22 @@ void test_ublox_rcv_mon(void)
     unsigned int    len;
     unsigned char   payload[128];
     char    sz[128];
+    UbloxNavTimeUtc *gps, gps1;
 
+    gps = &gps1;
+    
     while(1) {
         ublox_rcv_pkt(&class, &id, &len, payload);
         sprintf(sz, "CLASS=%02X ID=%02X LEN=%d\r\n", class, id, len);
         PDEBUG(sz);
+        ublox_debug_pkt_out(payload, len);
+        ublox_decode_nav_timeutc(payload, gps);
+        sprintf(sz, "%04u/%02d/%02d %02d:%02d:%02d.%09ld %6lums %6luns %02X\r\n",
+            gps->year, gps->month, gps->day, gps->hour, gps->min, gps->sec, gps->nano,
+            gps->tow, gps->tacc, gps->valid
+        );
+        PDEBUG(sz);
+
     }
 }
 
@@ -86,27 +98,7 @@ 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;
@@ -120,6 +112,8 @@ int main(int argc, char** argv) {
     unsigned int baudrate1 = ( unsigned int )( Baudrate1 + 0.5 );
     char    sz[32];
 
+    // 割り込み禁止
+    SET_CPU_IPL( 7 );
     __builtin_write_OSCCONL(OSCCON & 0xbf); //clear the bit 6 of OSCCONL to unlock Pin Re-map
 
     // UART1ピン割り当て
@@ -192,9 +186,10 @@ int main(int argc, char** argv) {
 //    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;
+    //**** 割り込み許可 **************************************************
+    // 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
+//    SRbits.IPL = 2;
+    SET_CPU_IPL( 2 );
 
     // UBXプロトコルのみにする
     ublox_rcvbuf_clear();
@@ -223,6 +218,7 @@ int main(int argc, char** argv) {
     
     ring_init();
     // AD SPI1　割り込み設定のみ　許可しない
+    // INT1ハンドラ内で有効にされる
     spi1_intf_clear();
     spi1_set_int_level(4);
 
@@ -252,8 +248,10 @@ int main(int argc, char** argv) {
 /*
  * INT1(RP12) AD DRDY0割り込みハンドラ
  * Negativ Edge
+ * SPI1受信開始してSPI1割り込み有効にする
+ *
  */
-void _ISR _INT1Interrupt(void)
+void __attribute__((interrupt, no_auto_psv)) _INT1Interrupt(void)
 {
     IFS1bits.INT1IF = 0;
     if (!ad_is_drdy0_enable()) {
@@ -279,8 +277,12 @@ void _ISR _INT1Interrupt(void)
 }
 /*
  * AD SPI1 Interrupt Handler
+ * ADから受信したデータをADバッファに格納する
+ * 6CHぶん受信したらSPI1割り込みをOFF
+ * 
  */
-void _ISR _SPI1Interrupt(void)
+//void _ISR _SPI1Interrupt(void)
+void __attribute__((interrupt, no_auto_psv)) _SPI1Interrupt(void)
 {
     static unsigned char in[3];
     unsigned char c;
@@ -354,7 +356,7 @@ void _ISR _SPI1Interrupt(void)
  * DataOut SPI2 Interrupt Handler
  * TX FIFOに1byteの空きが出来ると発生
  */
-void _ISR _SPI2Interrupt(void)
+void __attribute__((interrupt, no_auto_psv)) _SPI2Interrupt(void)
 {
 static unsigned char   spi2c;
     unsigned char   rx;

diff --git a/myuart.c b/myuart.c
index 555e845..c5427fb 100644 (file)
--- a/myuart.c
+++ b/myuart.c
@@ -5,10 +5,10 @@
 static unsigned char   ubx_w, ubx_r;
 static unsigned char    ubx_buf[256];
 
-void _ISR _U1RXInterrupt(void)
+void __attribute__((interrupt, no_auto_psv)) _U1RXInterrupt(void)
 {
     // 割り込みフラグクリア
-    IFS0bits.U1RXIF = 0;
+    uart1_rx_intf_clear();
     while(uart1_rx_is_rdy()) {
         ubx_buf[ubx_w++] = uart1_getc();
     }

diff --git a/myuart.h b/myuart.h
index 0c091ae..eedc7eb 100644 (file)
--- a/myuart.h
+++ b/myuart.h
@@ -21,10 +21,12 @@
 #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 uart1_rx_intf_clear()    IFS0bits.U1RXIF = 0  // 割り込みフラグクリア
 
 #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
+#define uart2_rx_intf_clear()    IFS1bits.U2RXIF = 0  // 割り込みフラグクリア
 
 
 void uart1_puts(char *s);

diff --git a/nbproject/Makefile-default.mk b/nbproject/Makefile-default.mk
index f40ed2b..de2a8fe 100644 (file)
--- a/nbproject/Makefile-default.mk
+++ b/nbproject/Makefile-default.mk
@@ -35,10 +35,10 @@ OBJECTDIR=build/${CND_CONF}/${IMAGE_TYPE}
 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 ${OBJECTDIR}/ublox.o
+OBJECTFILES_QUOTED_IF_SPACED=${OBJECTDIR}/byte2var.o ${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 ${OBJECTDIR}/ublox.o
+OBJECTFILES=${OBJECTDIR}/byte2var.o ${OBJECTDIR}/debug_print.o ${OBJECTDIR}/main.o ${OBJECTDIR}/myad.o ${OBJECTDIR}/myspi.o ${OBJECTDIR}/myuart.o ${OBJECTDIR}/ring.o ${OBJECTDIR}/ublox.o
 
 
 CFLAGS=
@@ -89,6 +89,12 @@ endif
 # ------------------------------------------------------------------------------------
 # Rules for buildStep: compile
 ifeq ($(TYPE_IMAGE), DEBUG_RUN)
+${OBJECTDIR}/byte2var.o: byte2var.c  nbproject/Makefile-${CND_CONF}.mk
+       @${MKDIR} ${OBJECTDIR} 
+       @${RM} ${OBJECTDIR}/byte2var.o.d 
+       @${RM} ${OBJECTDIR}/byte2var.o.ok ${OBJECTDIR}/byte2var.o.err 
+       @${FIXDEPS} "${OBJECTDIR}/byte2var.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}/byte2var.o.d" -o ${OBJECTDIR}/byte2var.o byte2var.c  
+       
 ${OBJECTDIR}/debug_print.o: debug_print.c  nbproject/Makefile-${CND_CONF}.mk
        @${MKDIR} ${OBJECTDIR} 
        @${RM} ${OBJECTDIR}/debug_print.o.d 
@@ -132,6 +138,12 @@ ${OBJECTDIR}/ring.o: ring.c  nbproject/Makefile-${CND_CONF}.mk
        @${FIXDEPS} "${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
+${OBJECTDIR}/byte2var.o: byte2var.c  nbproject/Makefile-${CND_CONF}.mk
+       @${MKDIR} ${OBJECTDIR} 
+       @${RM} ${OBJECTDIR}/byte2var.o.d 
+       @${RM} ${OBJECTDIR}/byte2var.o.ok ${OBJECTDIR}/byte2var.o.err 
+       @${FIXDEPS} "${OBJECTDIR}/byte2var.o.d" $(SILENT) -c ${MP_CC} $(MP_EXTRA_CC_PRE)  -g -omf=elf -x c -c -mcpu=$(MP_PROCESSOR_OPTION) -O1 -MMD -MF "${OBJECTDIR}/byte2var.o.d" -o ${OBJECTDIR}/byte2var.o byte2var.c  
+       
 ${OBJECTDIR}/debug_print.o: debug_print.c  nbproject/Makefile-${CND_CONF}.mk
        @${MKDIR} ${OBJECTDIR} 
        @${RM} ${OBJECTDIR}/debug_print.o.d 
@@ -181,11 +193,11 @@ endif
 ifeq ($(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
+       ${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 ${OBJECTFILES_QUOTED_IF_SPACED}        -Wl,--defsym=__MPLAB_BUILD=1,--heap=40,--no-check-sections$(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} $(MP_EXTRA_LD_PRE)  -omf=elf -mcpu=$(MP_PROCESSOR_OPTION)  -o dist/${CND_CONF}/${IMAGE_TYPE}/ad2010.${IMAGE_TYPE}.out ${OBJECTFILES_QUOTED_IF_SPACED}        -Wl,--defsym=__MPLAB_BUILD=1,--heap=40,--no-check-sections$(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
 

diff --git a/nbproject/Makefile-genesis.properties b/nbproject/Makefile-genesis.properties
index 6dab236..3d47df6 100644 (file)
--- a/nbproject/Makefile-genesis.properties
+++ b/nbproject/Makefile-genesis.properties
@@ -1,5 +1,5 @@
 #
-#Thu Nov 17 20:17:23 JST 2011
+#Mon Nov 21 17:20:05 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

diff --git a/nbproject/configurations.xml b/nbproject/configurations.xml
index 92c2985..a57487b 100644 (file)
--- a/nbproject/configurations.xml
+++ b/nbproject/configurations.xml
@@ -20,6 +20,8 @@
     <logicalFolder name="SourceFiles"
                    displayName="Source Files"
                    projectFiles="true">
+      <itemPath>byte2var.c</itemPath>
+      <itemPath>byte2var.h</itemPath>
       <itemPath>debug_print.c</itemPath>
       <itemPath>debug_print.h</itemPath>
       <itemPath>delay.h</itemPath>
@@ -114,7 +116,7 @@
         <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="heap-size" value="40"/>
         <property key="remove-unused-sections" value="false"/>
         <property key="stack-size" value=""/>
         <property key="linker-symbols" value=""/>

diff --git a/ublox.c b/ublox.c
index 5e0cf14..23abbf8 100644 (file)
--- a/ublox.c
+++ b/ublox.c
@@ -3,6 +3,7 @@
 
 #include "ublox.h"
 #include "myuart.h"
+#include "byte2var.h"
 
 // UBX packet内のデータ位置
 #define UBX_CLASS   2
@@ -26,7 +27,7 @@
 /*
  len: payload length
  */
-void ublox_make_sum(unsigned char *pkt, unsigned int lenp, unsigned char *suma, unsigned char *sumb)
+static void ublox_make_sum(unsigned char *pkt, unsigned int lenp, unsigned char *suma, unsigned char *sumb)
 {
     unsigned int    i;
     *suma = 0;
@@ -37,8 +38,9 @@ void ublox_make_sum(unsigned char *pkt, unsigned int lenp, unsigned char *suma,
     }
 }
 /*
+ * GPSに送信するコマンドパケットの作成
  * unsgined char len: payloadのバイト数
- return: 作成したパケットpkt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[])
 {
@@ -51,14 +53,15 @@ int ublox_make_cmd(unsigned char id1, unsigned char id2, unsigned int lenp, unsi
     pkt[4] = (0xFF & lenp);
     pkt[5] = (0xFF & (lenp >> 8));
     memcpy(&pkt[UBX_PAYLOAD], payload, lenp);
+    // Check Sum
     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
+ * Debug用
+ * GPSから受信したパケットのモニタ出力
  */
 void ublox_debug_pkt_out(unsigned char *pkt, int len)
 {
@@ -72,7 +75,8 @@ void ublox_debug_pkt_out(unsigned char *pkt, int len)
     PDEBUG("\r\n");
 }
 /*
- ubloxにデータ送信
+ * ubloxにデータ送信
+ * polling
  */
 void ublox_send(unsigned char *pkt, unsigned int len_pkt)
 {
@@ -85,7 +89,7 @@ void ublox_send(unsigned char *pkt, unsigned int len_pkt)
 
     }
 }
-
+/**** コマンド送信 *************************/
 /*
  * CFG-PRT
  *  プロトコル選択
@@ -270,8 +274,7 @@ void ublox_send_cfg_tp5_timepulse1(void)
     len_pkt = ublox_make_cmd(UBX_CLS_CFG, UBX_ID_CFG_TP5, lenp, payload, pkt);
     ublox_send(pkt, len_pkt);
 }
-
-
+/**** DEBUG ************************************************/
 #if 0
 void ublox_rcv_poll(void)
 {
@@ -306,6 +309,9 @@ void ublox_rcv_poll(void)
     PDEBUG("\r\n");
 }
 #endif
+/*
+ * polling 受信
+ */
 void ublox_rcv_poll(void)
 {
     unsigned int i, data;
@@ -321,7 +327,28 @@ void ublox_rcv_poll(void)
         PDEBUG(buf);
     }
 }
+/**** パケット受信 *************************************/
+/*
+ * NAV-TIMEUTCデコード
+ * return
+ *  0=OK
+ *  -1=エラー
+ */
 
+int ublox_decode_nav_timeutc(unsigned char *payload, UbloxNavTimeUtc *g)
+{
+    g->tow = byte4_to_ulong(payload);   // ms
+    g->tacc = byte4_to_ulong(payload+4);    // ns
+    g->nano = byte4_to_long(payload+8);     // ns
+    g->year = byte2_to_uint(payload+12);
+    g->month = byte1_to_uchar(payload+14);
+    g->day = byte1_to_uchar(payload+15);
+    g->hour = byte1_to_uchar(payload+16);
+    g->min = byte1_to_uchar(payload+17);
+    g->sec = byte1_to_uchar(payload+18);
+    g->valid = byte1_to_uchar(payload+19);
+    return 0;
+}
 /*
  * 受信バッファから1packet取り出す
  * UART割り込み使用

diff --git a/ublox.h b/ublox.h
index 6a12472..72b5422 100644 (file)
--- a/ublox.h
+++ b/ublox.h
@@ -15,7 +15,23 @@
 // NAV-
 #define UBX_ID_NAV_TIMEUTC  0x21
 
-void ublox_make_sum(unsigned char *pkt, unsigned int lenp, unsigned char *suma, unsigned char *sumb);
+// NAV-TIMEUTCパケットのデータ格納
+typedef struct {
+    unsigned long   tow;    // ms GPS Millisecond Time of Week
+    unsigned long   tacc;   // ns Time Accuracy Estimate
+    long   nano;            //ns Nanoseconds of second, range -1e9 .. 1e9 (UTC)
+    unsigned int    year;   // UTC
+    unsigned char   month;
+    unsigned char   day;
+    unsigned char   hour;
+    unsigned char   min;
+    unsigned char   sec;
+    unsigned char   valid;  // Validity Flags
+                            //  bit0 validTOW 1 = Valid Time of Week
+                            //  bit1 validWKN 1 = Valid Week Number
+                            //  bit2 validUTC 1 = Valid UTC (Leap Seconds already known)
+} UbloxNavTimeUtc;
+
 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);