/** // Z-Match ATU 1.8-50MHz // Ver No. 1.20 2026/3/20 // PIC18F47K42 // XC8 Cコンパイラー V2.50 // PICKIT3のMemorues to ProgramのPreserve EEPROM....にチェックを入れる事(EEPROMを書き換えない） /* Z-Match ATU Main Unit EEPROM MAP FreqList: 0-707 MonStep 1005-1016 Bindexmax+2 1017 Bindex:1018 SClocation:1019-1020 WClocation:1021-1022 LADD:1023 Add Ant selector (Not use) Microstepを1/1から1/16まで選択可 V1.01 SVC,WVCの時間差をコントローラーから指定 V1.20 160m 廃止 10MHzコンデンサ追加 */ // PIC18F47K42 Configuration Bit Settings // 'C' source line config statements // CONFIG1L #pragma config FEXTOSC = HS // External Oscillator Selection (HS (crystal oscillator) above 8 MHz; PFM set to high power) #pragma config RSTOSC = EXTOSC // Reset Oscillator Selection (EXTOSC operating per FEXTOSC bits (device manufacturing default)) // CONFIG1H #pragma config CLKOUTEN = OFF // Clock out Enable bit (CLKOUT function is disabled) #pragma config PR1WAY = OFF // PRLOCKED One-Way Set Enable bit (PRLOCK bit can be cleared and set only once) #pragma config CSWEN = OFF // Clock Switch Enable bit (The NOSC and NDIV bits cannot be changed by user software) #pragma config FCMEN = OFF // Fail-Safe Clock Monitor Enable bit (Fail-Safe Clock Monitor disabled) // CONFIG2L #pragma config MCLRE = INTMCLR // MCLR Enable bit (If LVP = 0, MCLR pin is MCLR; If LVP = 1, RE3 pin function is MCLR ) #pragma config PWRTS = PWRT_64 // Power-up timer selection bits (PWRT set at 64ms) #pragma config MVECEN = ON // Multi-vector enable bit (Multi-vector enabled, Vector table used for interrupts) #pragma config IVT1WAY = OFF // IVTLOCK bit One-way set enable bit (IVTLOCK bit can be cleared and set only once) #pragma config LPBOREN = OFF // Low Power BOR Enable bit (ULPBOR disabled) #pragma config BOREN = SBORDIS // Brown-out Reset Enable bits (Brown-out Reset enabled , SBOREN bit is ignored) // CONFIG2H #pragma config BORV = VBOR_2P45 // Brown-out Reset Voltage Selection bits (Brown-out Reset Voltage (VBOR) set to 2.45V) #pragma config ZCD = OFF // ZCD Disable bit (ZCD disabled. ZCD can be enabled by setting the ZCDSEN bit of ZCDCON) #pragma config PPS1WAY = ON // PPSLOCK bit One-Way Set Enable bit (PPSLOCK bit can be cleared and set only once; PPS registers remain locked after one clear/set cycle) #pragma config STVREN = ON // Stack Full/Underflow Reset Enable bit (Stack full/underflow will cause Reset) #pragma config DEBUG = OFF // Debugger Enable bit (Background debugger disabled) #pragma config XINST = OFF // Extended Instruction Set Enable bit (Extended Instruction Set and Indexed Addressing Mode disabled) // CONFIG3L #pragma config WDTCPS = WDTCPS_31// WDT Period selection bits (Divider ratio 1:65536; software control of WDTPS) #pragma config WDTE = OFF // WDT operating mode (WDT Disabled; SWDTEN is ignored) // CONFIG3H #pragma config WDTCWS = WDTCWS_7// WDT Window Select bits (window always open (100%); software control; keyed access not required) #pragma config WDTCCS = SC // WDT input clock selector (Software Control) // CONFIG4L #pragma config BBSIZE = BBSIZE_512// Boot Block Size selection bits (Boot Block size is 512 words) #pragma config BBEN = OFF // Boot Block enable bit (Boot block disabled) #pragma config SAFEN = OFF // Storage Area Flash enable bit (SAF disabled) #pragma config WRTAPP = OFF // Application Block write protection bit (Application Block not write protected) // CONFIG4H #pragma config WRTB = OFF // Boot Block Write Protection bit (Boot Block not write-protected) #pragma config WRTC = OFF // Configuration Register Write Protection bit (Configuration registers not write-protected) #pragma config WRTD = OFF // Data EEPROM Write Protection bit (Data EEPROM not write-protected) #pragma config WRTSAF = OFF // SAF Write protection bit (SAF not Write Protected) #pragma config LVP = ON // Low Voltage Programming Enable bit (Low voltage programming enabled. MCLR/VPP pin function is MCLR. MCLRE configuration bit is ignored) // CONFIG5L #pragma config CP = OFF // PFM and Data EEPROM Code Protection bit (PFM and Data EEPROM code protection disabled) // CONFIG5H // #pragma config statements should precede project file includes. // Use project enums instead of #define for ON and OFF. #include #include "StepFreq_List_12_200.h"//100step max 441PPS #include "Z_Match_FreqRang_7.h" #include #define _XTAL_FREQ 24000000 #define YLED LATDbits.LATD0 #define RLED LATCbits.LATC2 #define BLED LATEbits.LATE1 #define SSENS PORTCbits.RC5 //SVC 0番地検出 #define WSENS PORTCbits.RC4 //WVC 0番地検出 #define L3ON LATDbits.LATD2 //L3 on #define 30mBANDON LATDbits.LATD3 //160m band on #define nEN LATBbits.LATB5 #define MODE1 LATBbits.LATB2 #define MODE2 LATBbits.LATB1 #define STBY LATBbits.LATB4 #define SSTEP LATBbits.LATB3 #define SDIR LATBbits.LATB0 #define WSTEP LATDbits.LATD5 #define SMSTOP LATDbits.LATD7 #define WMSTOP LATDbits.LATD6 #define WDIR LATDbits.LATD4 #define VDD LATAbits.LATA2 #define TMR3ON T3CONbits.ON //TMR3 1:ON 0:OFF #define TMR5ON T5CONbits.ON //TMR5 1:ON 0:OFF #define TMR0ON T0CON0bits.EN //TMR0 1:ON 0:OFF #define TMR1ON T1CONbits.ON //TMR1 1:ON 0:OFF #define K1 LATEbits.LATE0 //Ant selector relay #define K2 LATAbits.LATA5 //Ant selector relay #define K3 LATAbits.LATA3 //Ant selector relay #define sendETC 2 #define sendSWR 3 #define sendSVCang 4 #define sendWVCang 5 #define sendFreq 6 #define sendDbug 7 #define cw 1 //VC回転方向　時計回り #define ccw -1//VC回転方向　反時計回り #define uchar unsigned char #define schar signed char #define uint unsigned int #define sint signed int #define ulint unsigned long int extern unsigned int StepFreq[]; //Timer3のプリセット値計算　Timer3のclock=3MHz //割り込み周期100Hz 2^16-(3MHz/100)=35536=0x8AD0 //割り込み周期200Hz 2^16-(3MHz/200)=50536=0xC568 //割り込み周期400Hz 2^16-(3MHz/400)=58036=0xE2B4 unsigned char T3H = 0xC5;//TMR3初期値 200Hz C5 400Hz E2 unsigned char T3L = 0x68;//TMR3初期値 200Hz 68 400Hz B4 uchar T5H,T5L,T3STEP,T5STEP; unsigned int SWRlimitBase = 104;//自動整合時の開始から10秒間内のターゲット unsigned int swr0 = 9000;//比較する前回のSWR初期値 uchar MonStep[13]; sint lastSSTEP,lastWSTEP,SClocation,WClocation,SVCtrgt,WVCtrgt;//Clocation=Current Location signed int maxACC,MMstep,DbugData; sint MaxLocation; uchar TUNEstart,recivingflg,Gled,Oled,Blink; uchar UARTrcvd,CMPD; unsigned char L2TAP; //リンクコイルタップ切替　0:4T 1:3T unsigned int swr,SWRlimit; unsigned int Vfwd, Vref,stby_cunt; unsigned int Freq,TUNEFreq,lastTUNEFreq;//プリセット周波数 TUNE時の周波数 unsigned char UARTrcvd,TUNED,lastTUNED,RXindex,presetCallREQ,stby_release,Motor_ON; uchar RXBufa[6];//RS232C 受信buffer uchar TXBufa[7];//RS232C 送信buffer //uint FreqList[][]; schar WVCdir,SVCdir,VCselect; uchar DelayCount,SWVCK,DbugOK;// uchar BFCNT,START,STOP,M_UP,M_DOWN,FSK;//FSK:早送り係数 uchar ANTNo,lastANTNo,Bindex,lastBindex;//,Bindexmax; uint count0,count1,count3,lastsavecnt,lastsendFreq; uchar lastsendswr,saveReq,CompFrqList; uchar MonIndexFlg,sendingflg,VCSW,VC12,MonIndex,ERROR,ckswr; uint TXinterbal; schar OLPS,OLMS,OLPW,OLMW;//Over Limit Plus(Minus) Single(Double) VC uchar MicroStep = 4;//Microstep 1/4 1,4,8,9(8の別の設定),16 //関数宣言 uint takeCenterFreq(uint Bi); void uart_short_send(char* buf); void sendUARTshortData(uchar tkg); uchar sarchswr(uchar vc0); void presetVCposition(sint Stgt,sint Wtgt,uchar sens); void setswrlimit(); //EEPROM読み込み unsigned char eepdata_read(unsigned int adr) {//adr 0-1023 unsigned char data; uint ad = adr; NVMADRL = ad & 0x00FF; NVMADRH = ad >> 8; NVMCON1 = 0; NVMCON1bits.RD = 1; while(NVMCON1bits.RD == 1); data = NVMDAT; return data; } //EEPRROM書き込み void eepdata_write(unsigned int adr,unsigned char data) {// adr 0-1023 uint ad = adr; INTCON0bits.GIEH = 0; INTCON0bits.GIEL = 0; NVMADRL = ad & 0x00FF; NVMADRH = ad >> 8; NVMDAT = data; NVMCON1 = 0; NVMCON1bits.WREN = 1; NVMCON2 = 0x55; NVMCON2 = 0xAA; NVMCON1bits.WR = 1; while(NVMCON1bits.WR == 1); INTCON0bits.GIEH = 1; INTCON0bits.GIEL = 1; } void initlastdata() { uint k; for (k =1018;k <=1023;k++){ eepdata_write(k,0x00); } } uint adconv() { unsigned int vadch,vadcl; //AN0 Vref変換 ADPCH = 0b00000000; //AN0 AD変換設定 ADRESH = 0;ADRESL = 0; __delay_us(10); ADCON0bits.GO = 1; //AD変換開始 while (ADCON0bits.GO); // AD変換完了まで待つ vadch = ADRESH;vadch = vadch << 8; // ADRESHの読み取り vadcl = ADRESL; Vref = vadch | vadcl; // ADRESLを下位につなぐ __delay_us(10); //AN1 Vfwd 変換 ADPCH = 0b00000001;//AN1 AD変換設定 ADRESH = 0;ADRESL = 0; __delay_us(10); ADCON0bits.GO = 1; //AD変換開始 while (ADCON0bits.GO); // AD変換完了まで待つ vadch = ADRESH;vadch = vadch << 8;// ADRESHの読み取り vadcl = ADRESL; Vfwd = vadch | vadcl; // ADRESLを下位につなぐ return Vfwd; } void takeTUNEFreq() { uint fl=0;uint fh=0;uint lfq; lfq = lastTUNEFreq ; INTCON0bits.GIEH = 0;//全割り込み禁止 INTCON0bits.GIEL = 0;//全割り込み禁止 TMR1ON = 0;//timer1カウント停止 TMR0ON = 0; PIR4bits.TMR1IF = 0; TMR0H = 0x00;TMR0L = 0x00;//timer1 preset TMR1H = 0xA2;TMR1L = 0x68;//timer0 reset 周波数カウント TMR1ON = 1;//timer1カウント開始 TMR0ON = 1; while (PIR4bits.TMR1IF == 0); asm ("nop");// asm ("nop"); asm ("nop");// asm ("nop"); TMR0ON = 0; TMR1ON = 0;//timer1カウント停止 fl=TMR0L;fh=TMR0H; TUNEFreq = (fh << 8) | fl; if (TUNEFreq < 1780) {lastTUNEFreq = 0;TUNEFreq = 0;} PIR4bits.TMR1IF = 0; INTCON0bits.GIEH = 1;//全割り込み許可 INTCON0bits.GIEL = 1; } void getSWR() { ulint s,v,w; v = adconv(); if (Vref > ((ulint)(89 *(ulint) Vfwd) / 91)) { swr = 9000; } else { s = (ulint)100 * (ulint)(Vfwd + Vref); w =(ulint)( s / (Vfwd - Vref)); swr = (uint)w; } if (swr > 250) {s=swr+5;s=s/10;swr=s*10;}//小数点以下2桁目を四捨五入 } void savelastdata(){ //lastdata SVC WVCの角度データをEEPROMに退避 (注) 1017にはBindexmax+2が格納されている sint s0,s1; eepdata_write(1018,Bindex); s0 = SClocation & 0x00FF; s1 = SClocation >> 8; eepdata_write(1019,s0); eepdata_write(1020,s1); s0 = WClocation & 0x00FF; s1 = WClocation >> 8; eepdata_write(1021,s0); eepdata_write(1022,s1); eepdata_write(1023,L2TAP); } void takelastdata(){ uint f0,f1; Bindex = eepdata_read(1018); if (Bindex > 127) {initlastdata();return;} f0 = eepdata_read(1019); f1 = eepdata_read(1020); SVCtrgt =(sint) (f0 | (f1 << 8)); f0 = eepdata_read(1021); f1 = eepdata_read(1022); WVCtrgt = (sint) (f0 | (f1 << 8)); L2TAP = eepdata_read(1023); } void DelayTimer(uchar C){ uchar t=0; for (t=0;t<=C;t++){ __delay_us(50); } } void setMicroStep(uchar MS) { switch (MS) { case 1: MODE1 = 0;MODE2 = 0;SSTEP = 0;SDIR = 0;WSTEP = 0;WDIR = 0;MaxLocation = 375;break;//1/1step case 4: MODE1 = 0;MODE2 = 1;SSTEP = 0;SDIR = 1;WSTEP = 0;WDIR = 1;MaxLocation = 1500;break;//1/4step case 8: MODE1 = 1;MODE2 = 1;SSTEP = 1;SDIR = 0;WSTEP = 1;WDIR = 0;MaxLocation = 3000;break;//1/8step case 9: MODE1 = 1;MODE2 = 0;SSTEP = 1;SDIR = 1;WSTEP = 1;WDIR = 1;MaxLocation = 3000;break;//1/8step case 16: MODE1 = 1;MODE2 = 1;SSTEP = 1;SDIR = 1;WSTEP = 1;WDIR = 1;MaxLocation = 6000;break;//1/16step default: MODE1 = 0;MODE2 = 1;SSTEP = 0;SDIR = 1;WSTEP = 0;WDIR = 1;MaxLocation = 1500;break;//1/4step } } void motorStandby(uchar sw){//0:STBY有効 1:STBY解除 if (sw == 0){stby_release = 1;stby_cunt = 0;return;//STBY } else { if (Motor_ON == 1){return;} Motor_ON = 1; setMicroStep(MicroStep); __delay_ms(10); STBY = 1;//STBY MODE 解除 SMSTOP = 1;WMSTOP = 1;//MOTOR beake __delay_ms(90); stby_release = 0; } } void initMotorDriver(){ SSTEP = 0;WSTEP = 0; SDIR = 0;WDIR = 0;//CW回転 nEN = 0; STBY = 1;//STBY解除 __delay_ms(100); STBY = 0;//motor stand-by setMicroStep(MicroStep); __delay_ms(10); STBY = 1;//STBY MODE 解除 SMSTOP = 1;WMSTOP = 1;//MOTOR beake __delay_ms(100); } void initMotorSet() { sint stp,maxstp; uchar ss,ws,lastSSENS,lastWSENS,chS,chW,snS,snW; maxstp = (MaxLocation + 100) * 2; SDIR = 1;WDIR = 1;SMSTOP =0;WMSTOP = 0;//S,W motorともCW方向、回転可 SClocation = maxstp;WClocation = maxstp; presetVCposition(0,0,1);//CCW方向に360度回転途中にセンサーを検出して停止 SClocation = 0;WClocation = 0;//仮の原点を設定 __delay_ms(10); presetVCposition(50,50,0);//CW方向に50step回転 __delay_ms(100); // MODE1 = 0;MODE2 = 0;//1.8deg 基本ステップ SDIR = 1;WDIR = 1;SMSTOP =0;WMSTOP = 0;//S,W motorともCCW方向、回転可 __delay_ms(100); ss =1;ws = 1; TMR3ON = 1;DelayTimer(DelayCount);TMR5ON = 1; while ((ss == 1) || (ws == 1)) { if (SSENS == 0) {ss = 0;SSTEP = 0;}else{SSTEP = T3STEP;} if (WSENS == 0) {ws = 0;WSTEP = 0;}else{WSTEP = T5STEP;} } TMR3ON = 0;TMR5ON = 0;//timer3,5 STOP SMSTOP = 1;WMSTOP = 1;T3STEP = 0;T5STEP = 0;//MOTOR beake SClocation = 0;WClocation =0;//原点設定 } void presetVCposition(sint Stgt,sint Wtgt,uchar sens){//引数：各VCのターゲット角度 180度のときMaxLocation sint SACCend,SDECstart,WACCend,WDECstart,temp0,temp1,stemp; sint SVCstep,WVCstep,Sdef,Wdef,Sindex,Windex,st,wt; uchar ss,ws,chS,chW,snS,snW,lastSSENS,lastWSENS;//,cnt; if (STBY == 0){return;} T3L = StepFreq[0] & 0x00FF;T3H = StepFreq[0] >> 8;//Motor clock 100Hz T5L = StepFreq[0] & 0x00FF;T5H = StepFreq[0] >> 8;//Motor clock 100Hz // SMSTOP = 0;WMSTOP = 0;//Motor active ss = 1;ws = 1;st = 0;wt = 0;Sindex = 0;Windex = 0; Sdef = Stgt - SClocation;if(Sdef < 0){SVCstep = -1;} if(Sdef > 0){SVCstep = 1;}if(Sdef == 0){ss = 0;} Wdef = Wtgt - WClocation;if(Wdef < 0){WVCstep = -1;} if(Wdef > 0){WVCstep = 1;}if(Wdef == 0){ws = 0;} if (SVCstep >= 0) {SDIR = 0;}else{SDIR = 1;} if (WVCstep >= 0) {WDIR = 0;}else{WDIR = 1;} SSTEP = 0;lastSSTEP = 0;//BLED = 0; WSTEP = 0;lastWSTEP = 0; lastSSENS = SSENS;lastWSENS = WSENS; temp0 = abs(Sdef);temp1 = temp0/2;SACCend = temp1-2; if(SACCend > maxACC) {SACCend = maxACC;} if(SACCend < 0){SACCend = 0;} temp0 = abs(Wdef);temp1 = temp0/2;WACCend = temp1-2; if(WACCend > maxACC) {WACCend = maxACC;} if(WACCend < 0){WACCend = 0;} temp0 = abs(Sdef);temp1 = temp0 - SACCend;SDECstart = temp1 +1; temp0 = abs(Wdef);temp1 = temp0 - WACCend;WDECstart = temp1 +1; st = 0;wt = 0; SMSTOP = 0;WMSTOP = 0;//Motor active // __delay_ms(100); TMR3ON = 1;DelayTimer(DelayCount);TMR5ON = 1;//timer3,5 START while ((ss == 1) || (ws == 1)) { if(Stgt == SClocation){ss = 0;SSTEP = 0;} if(ss == 1){SSTEP = T3STEP;} if(Wtgt == WClocation){ws = 0;WSTEP = 0;} if(ws == 1){WSTEP = T5STEP;} if((lastSSTEP != SSTEP) && (SSTEP == 0)){ if (ss == 1){SClocation = SClocation + SVCstep;st++; if (st > 3) { if(st <= SACCend) { Sindex++; stemp = StepFreq[Sindex]; T3L = stemp & 0x00FF;T3H = stemp >> 8; } if (st >= SDECstart) { if (Sindex > 0){Sindex--;} stemp = StepFreq[Sindex]; T3L = stemp & 0x00FF;T3H = stemp >> 8; } } } } lastSSTEP = SSTEP; if((lastWSTEP != WSTEP) && (WSTEP == 0)){ if (ws == 1){WClocation = WClocation + WVCstep;wt++; if (wt > 3) { if(wt <= WACCend) { Windex++; stemp = StepFreq[Windex]; T5L = stemp & 0x00FF;T5H = stemp >> 8; } if (wt >= WDECstart) { if (Windex > 0){Windex--;} stemp = StepFreq[Windex]; T5L = stemp & 0x00FF;T5H = stemp >> 8; } } } } // cnt++; lastWSTEP = WSTEP; if (sens == 1) { if (lastSSENS != SSENS){chS = 1;snS=SSENS;lastSSENS = SSENS;} if ((chS ==1) && (snS == 0)){ ss = 0;SSTEP = 0;} if (lastWSENS != WSENS){chW = 1;snW=WSENS;lastWSENS = WSENS;} if ((chW ==1) && (snW == 0)){ ws = 0;WSTEP = 0;} } RLED=~RLED; } TMR3ON = 0;TMR5ON = 0;//timer3,5 STOP SMSTOP = 1;WMSTOP = 1;T3STEP = 0;T5STEP = 0;//BLED = 0;//MOTOR stop if (RLED==1){RLED=0;} YLED=1; } void get_presetdata(uint ead) {//EEPROM読み出し uchar a;uint m; uint a0,a1,a2,a3; m = ead * 7; a = eepdata_read((m) + 2); ANTNo = a & 0b00000111; L2TAP = (a & 0b00001000) >> 3;L3ON = L2TAP; TUNED = a >> 7; a0 = eepdata_read(m + 3); a1 = eepdata_read(m + 4); SVCtrgt = (sint)(a0 | (a1 << 8)); if (SVCtrgt > MaxLocation) {SVCtrgt = MaxLocation;} if (SVCtrgt < 0) {SVCtrgt = 0;} a2 = eepdata_read(m + 5); a3 = eepdata_read(m + 6); WVCtrgt = (sint)(a2 | (a3 << 8)); if (WVCtrgt > MaxLocation) {WVCtrgt = MaxLocation;} if (WVCtrgt < 0) {WVCtrgt = 0;} TUNEFreq = takeCenterFreq(ead); if (TUNEFreq > 54000){ TUNEFreq = 0;SVCtrgt = 1000;WVCtrgt = 1000; TUNED = 0;L2TAP = 0; } } uchar takeBindexFromList(uint fq,uchar an) { //周波数からBindexを選択 uchar k,k0,a,a0; uchar ch = 0; uint f0,f1; uint frq = fq; a0=an; lastBindex=Bindex; for (k = 0;k <= Bindexmax;k++) { a = FreqList[k][1] & 0b00000111; f0=FreqList[k][0];k0=k+1;f1=FreqList[k0][0]; if (a == a0){ if ((f0 <= frq) && (frq < f1)) { // DbugData = k;sendUARTshortData(sendDbug); ch = k;return ch; } } } return ch; } void save_presetdata(uint Frq) {//TUNEが成功した時のみセーブ uint e0,e1,bi,m; sint a0,a1,a2,a3; bi = takeBindexFromList(Frq,ANTNo); m = bi * 7; // m = Bindex * 7; e0 = eepdata_read(m+2);//e0=7bit:TUNED 6-4bit:空 3bit:L2TAP 2-0bit:ANTNo.(0-4) e0 = e0 & 0b00000111; e1 = e0 | (L2TAP << 3) | (TUNED << 7); a0 = SClocation & 0x00FF; a1 = SClocation >> 8; a2 = WClocation & 0x00FF; a3 = WClocation >> 8; eepdata_write((m + 2),e1); eepdata_write((m + 3),a0); eepdata_write((m + 4),a1); eepdata_write((m + 5),a2); eepdata_write((m + 6),a3); __delay_ms(120);//min6msのディレーが必要 DbugData = bi;sendUARTshortData(sendDbug); // RLED = 1; } void MSon(sint stp) { SVCtrgt = SClocation + stp; if (SVCtrgt > MaxLocation){SVCtrgt = MaxLocation;OLPS++;} if (SVCtrgt < 0){SVCtrgt = 0;OLMS++;} presetVCposition(SVCtrgt,WClocation,0); sendUARTshortData(sendSVCang); } void MWon(sint stp) { WVCtrgt = WClocation + stp; if (WVCtrgt > MaxLocation){WVCtrgt = MaxLocation;OLPW++;} if (WVCtrgt < 0){WVCtrgt = 0;OLMW++;} presetVCposition(SClocation,WVCtrgt,0); sendUARTshortData(sendWVCang); } void M_UPcheck(){ sint st,kt; if (FSK == 0){kt = 12;}else{kt = 1;}//FSK早送りstep st = 1;//MMstep/4; if (M_UP == 0){return;} motorStandby(1); if ((M_UP == 1) && (VCSW == 0)){MSon(st*kt);VCselect == 1;}//0:SVC 1:WVC if ((M_UP == 1) && (VCSW == 1)){MWon(st*kt);VCselect == 2;} M_UP = 0; motorStandby(0); getSWR();sendUARTshortData(sendSWR);//SWRをチェック SWR送信 } void M_DOWNcheck(){ sint st,kt; if (FSK == 0){kt = -12;}else{kt = -1;} st = 1;//MMstep/4; if (M_DOWN == 0){return;} motorStandby(1); if ((M_DOWN == 1) && (VCSW == 0)) {MSon(st*kt);VCselect == 1;} if ((M_DOWN == 1) && (VCSW == 1)) {MWon(st*kt);VCselect == 2;} M_DOWN = 0; motorStandby(0); getSWR();sendUARTshortData(sendSWR);//SWRをチェック SWR送信 } void startcheck() { if (START == 0) { return;} START = 0; TUNEstart=1; ckswr=0; Gled = 1;//1:点灯 0:消灯 Oled = 0; count0 =0; count1 =0; SWRlimit =SWRlimitBase; sendUARTshortData(sendETC); } uchar stopcheck() { if (STOP == 0) {return 0;} STOP = 0; TUNEstart = 0; ckswr=0; Gled = 0; // GRN LED off Oled = 0; // RED LED off sendUARTshortData(sendETC); return 1; } void setANTselect(){ switch (ANTNo) { case 1: K1 = 0;K2 = 1;K3 = 1;break; case 2: K1 = 1;K2 = 0;K3 = 1;break; case 3: K1 = 0;K2 = 0;K3 = 1;break; case 4: K1 = 0;K2 = 0;K3 = 0;break; } lastANTNo = ANTNo; } signed char setMonStep() { if (Freq < 1950) {return MonStep[0];} if ((Freq >= 1950) && (Freq < 3930)) {return MonStep[1];} if ((Freq >= 3930) && (Freq < 7250)) {return MonStep[2];} if ((Freq >= 7250) && (Freq < 10200)) {return MonStep[3];} if ((Freq >= 10200) && (Freq < 14500)) {return MonStep[4];} if ((Freq >= 14500) && (Freq < 18200)) {return MonStep[5];} if ((Freq >= 18200) && (Freq < 21500)) {return MonStep[6];} if ((Freq >= 21500) && (Freq < 25000)) {return MonStep[7];} if ((Freq >= 25000) && (Freq < 30000)) {return MonStep[8];} if (Freq >= 30000) {return MonStep[9];} } uchar FindDipSwr(unsigned char vc0) {//vc0=1;SVC 2:WVC uchar re,sm,rev,vc,st,be; unsigned int Mstep,Mstep0; vc = vc0; OLPS = 0;OLMS = 0;OLPW = 0;OLMW = 0; re = 0;//0:SWRlimit以上 1:SWRlimit以下　2:エラー sm = 0; //SWRディップポイント通過で１ rev =0; //モーター反転回数 Mstep0 = setMonStep();//モーター駆動step数(最小値は1） // Mstep0=16; getSWR();sendUARTshortData(sendSWR);//SWRをチェック SWR送信 motorStandby(1); while (1) {// 指定したVCにてSWRの最少ポイントを探す // RLED=~RLED; if (START == 1){return 1;} setswrlimit(); if (TUNEstart == 0){return 0;} getSWR();sendUARTshortData(sendSWR);//SWRをチェック SWR送信 if (swr < SWRlimit) { return 1;} Mstep = Mstep0/1;// //Mstepの最小値は1かつ整数 if (swr >= 1000) {Mstep= Mstep0/4;} //8 swr>=600の時 36 1/4マイクロステップ時 if (swr < 1000) {Mstep= Mstep0/6;} //5 詳細は再現性テスト.xlsxのSTEP参照 if (swr < 600) {Mstep= Mstep0/7;} //3 if (swr < 300) {Mstep= Mstep0/10;} //2 if (swr < 200) {Mstep= Mstep0/15;} //2 if (swr < 110) {Mstep= Mstep0/18;} //1 st = stopcheck();//キー入力のチェック if (st == 1) {return 5;} swr0 = swr; if (vc == 2) {//WVCを動かす MWon(Mstep*WVCdir);// (1:cw/-1:ccw) sendUARTshortData(sendWVCang); getSWR();sendUARTshortData(sendSWR);//SWRをチェック SWR送信 if (swr < SWRlimit) { return 1;} } else {//SVCを動かす MSon(Mstep*SVCdir*SWVCK);// (1:cw/0:ccw) RLED=1; sendUARTshortData(sendSVCang); getSWR();sendUARTshortData(sendSWR);//SWRをチェック SWR送信 if (swr < SWRlimit) { return 1;} } st = stopcheck(); if (st == 1) {return 5;} if (swr0 < swr) { //SWR0より大きい時は if (sm == 1) { break;}//SWR最少点通過後ならブレーク if (vc == 2) { if (WVCdir==1) {WVCdir=-1;} else {WVCdir=1;}//VCを反転 MWon(Mstep*WVCdir);// (1:cw/0:ccw) sendUARTshortData(sendWVCang); getSWR();sendUARTshortData(sendSWR);//SWRをチェック SWR送信 if (swr < SWRlimit) { return 1;} } else { if (SVCdir==1) {SVCdir=-1;} else {SVCdir=1;}//VCを反転 MSon(Mstep*SVCdir*SWVCK);// (1:cw/0:ccw) sendUARTshortData(sendSVCang); getSWR();sendUARTshortData(sendSWR);//SWRをチェック SWR送信 if (swr < SWRlimit) { return 1;} } if (re == 1) {return 1;} st = stopcheck(); if (st == 1) {return 5;} rev++; sm=1; if (rev > 1) { break;}// モーター反転を2回やったら抜ける。 } else { if (swr0 > swr) {sm = 0;}}//SWRが下がる間同じVCを同じ方向へ繰り返す st = stopcheck(); if (st == 1) {return 5;} if (count0 > 35000){TUNEstart = 0;return 2;} if (OLPS > 3){return 0;} if (OLMS > 3){return 0;} if (OLPW > 3){return 0;} if (OLMW > 3){return 0;} } if (swr < SWRlimit) { return 1;} return 0; } void setswrlimit() { if ((count0 > 0) && (count0 <= 10000)) { SWRlimit = SWRlimitBase;}//0秒から10秒 if ((count0 > 10000) && (count0 <= 15000)) { SWRlimit = 110;}//10秒から15秒 if ((count0 > 15000) && (count0 <= 20000)) { SWRlimit = 135;}//15秒から20秒 if ((count0 > 20000) && (count0 <= 25000)) { SWRlimit = 170;}//20秒から25秒 if (count0 > 25000) { SWRlimit = 300;}//25秒以上 } uchar sarchswr(uchar vc0) { //SWR収束プログラム uchar re,vc; re=0; //re=0 SWRがSWRLimit以上 re=1 SWRがSWRLimit以下　re=2 エラー SWRlimit = SWRlimitBase; __delay_ms(330); vc = vc0; count0=0; while(1){ re = FindDipSwr(vc); if (re != 0) {TUNEstart = 0;return re;} if ((OLPS > 3) && (OLPW > 3)) {TUNEstart = 0;return 2;} if ((OLMS > 3) && (OLMW > 3)) {TUNEstart = 0;return 2;} if ((OLPS > 3) && (OLMW > 3)) {TUNEstart = 0;return 2;} if ((OLMS > 3) && (OLPW > 3)) {TUNEstart = 0;return 2;} if (vc == 2){vc = 1;}else{vc = 2;} if (count0 > 35000){TUNEstart = 0;return 2;} } } uint takeCenterFreq(uint Bi){ ulint fq,fq0,fq1; fq0 = FreqList[Bi][0];fq1 = FreqList[Bi + 1][0]; fq = (fq0 + fq1)/2; ANTNo = FreqList[Bi][1]; return fq; } void takeMonStep(){ uint k; for (k = 0;k<= 11;k++){ MonStep[k] = eepdata_read(k+1005); } DelayCount = MonStep[10]; if ((DelayCount == 0) || (DelayCount > 100)){DelayCount = 1;} SWVCK = MonStep[11]; } void saveMonStep(){ uchar i; while(!MonIndexFlg); for (i = 0;i <= 11;i++) { eepdata_write(1005 + i,MonStep[i]); } MonIndexFlg = 0; } void check30mBand(){ if (Bindex == 27){30mBANDON = 1;}else{30mBANDON = 0;} } /* void makeFreqList(){//EEPROMデータより周波数リストを読み込む uint fr,f0,f1; uchar k,j;uint m; k = 0;fr = 0; for(k = 0;k < Bindexmax+2;k++){ m = k * 7; f0 = eepdata_read(m); f1 = eepdata_read(m + 1); fr = f0 | (f1 << 8); FreqList[k][0] = fr; j = eepdata_read(m + 2); FreqList[k][1] = j & 0b00000111; CompFrqList = 1; } }*/ void saveFreqList() { //FreqListをEEPROMにセーブ Bindexmaxに変更があった時のみ実行 uchar c,bi,pl,ph,k; uint m,pa; uint f0,f1; for (k = 0;k <= Bindexmax + 2;k++){ pa = (MaxLocation * 2)/3; pl = pa & 0x00FF;ph = pa >> 8; c = FreqList[k][1] ;//ANT No. f0 = FreqList[k][0] & 0x00FF;f1 = FreqList[k][0] >> 8;//f0 下位8bit f1 上位8bit] m = k * 7; eepdata_write(m,f0); eepdata_write((m + 1),f1); eepdata_write((m + 2),c); eepdata_write((m + 3),pl); eepdata_write((m + 4),ph); eepdata_write((m + 5),pl); eepdata_write((m + 6),ph); eepdata_write(1017,Bindexmax);//Bindexmaxセーブ } } //UART送信ショート版 void uart_short_send(char* buf) { uchar i = 0; while (i <= BFCNT) { while (!PIR3bits.U1TXIF);//TRMT=0 full TRMT=1 empty U1TXB = TXBufa[i]; i++; PIR3bits.U1TXIF = 0; } TXinterbal = 0; sendingflg = 0; } void sendUARTshortData(uchar tkg) {//ATUからshackへUART送信 uint f0,f1,swr0,swr1,ang0,ang1; uchar e0,e1,e2,e3,e4,e5; sendingflg = 1; if (tkg == sendETC) { e0 = Gled; e1 = Oled << 1;e2 = TUNED << 2;e3 = ERROR << 3;e4 = L2TAP << 4;e5 = Blink <<5; e0 = e0 | e1;e0 = e0 |e2;e0 = e0 | e3;e0 = e0 | e4;e0 = e0 | e5; TXBufa[0] = tkg; TXBufa[1] = Bindex; TXBufa[2] = e0; // BLED=TUNED; saveReq = 1; } if (tkg == sendSWR) { if (lastsendswr != swr) { TXBufa[0] = tkg; swr0 = swr & 0x00FF; swr1 = swr >> 8; TXBufa[1] = (uchar)swr0; TXBufa[2] = (uchar)swr1; lastsendswr = swr; } } if (tkg == sendSVCang) { TXBufa[0] = tkg; ang0 = SClocation & 0x00FF; ang1 = SClocation >> 8; TXBufa[1] = ang0; TXBufa[2] = ang1; } if (tkg == sendWVCang) { TXBufa[0] = tkg; ang0 = WClocation & 0x00FF; ang1 = WClocation >> 8; TXBufa[1] = ang0; TXBufa[2] = ang1; } if (tkg == sendFreq) { if (((lastsendFreq + 5) < TUNEFreq) || ((lastsendFreq - 5) > TUNEFreq)){ TXBufa[0] = tkg; f0 = TUNEFreq & 0x00FF; f1 = TUNEFreq >> 8; TXBufa[1] = (uchar)f0; TXBufa[2] = (uchar)f1; lastsendFreq = TUNEFreq; } } if (tkg == sendDbug) { TXBufa[0] = tkg; f0 = DbugData & 0x00FF; f1 = DbugData >> 8; TXBufa[1] = (uchar)f0; TXBufa[2] = (uchar)f1; } while(CMPD == 0); while(recivingflg); while(!PIE3bits.U1RXIE);//受信が終わるまで待つ uart_short_send(TXBufa); CMPD = 0; } //******************************************************************************* // * InterFunction() 割り込みの処理 * // *******************************************************************************/ // UART 受信割り込み void __interrupt(irq(IRQ_U1RX)) U1RX_ISR(void) { uchar n,k; PIE3bits.U1RXIE = 0; PIR3bits.U1RXIF = 0; RXBufa[RXindex] = U1RXB; if (RXBufa[0] == 0){CMPD = 1;PIE3bits.U1RXIE = 1;return;} if (RXBufa[0] > 127) {BFCNT =3;recivingflg = 1;}else{BFCNT = 2;} RXindex ++; if (RXindex > BFCNT) { if ((RXBufa[0] > 0) && (RXBufa[0] < 100)){ lastBindex=Bindex; Bindex = RXBufa[1];ANTNo=FreqList[Bindex][1] & 0b00000111; //Bindex k = RXBufa[2]; L2TAP = k & 0b00000001; presetCallREQ = (k & 0b00000010) >> 1; START = (k & 0b00000100) >> 2; STOP = (k & 0b00001000) >> 3;if (STOP == 1){TUNEstart = 0;} M_UP = (k & 0b00010000) >> 4; M_DOWN = (k & 0b00100000) >> 5; FSK = (k & 0b01000000) >> 6;//option VCSW = (k & 0b10000000) >> 7;//0:SVC 1:WVC TUNED = 0; } if ((RXBufa[0] > 0) && (RXBufa[0] <= 127)) { MonIndex = RXBufa[0] - 100; MonStep[MonIndex] = RXBufa[1]; MonStep[MonIndex + 1]= RXBufa[2]; if (MonIndex == 10){MonIndexFlg = 1;} } if (RXBufa[0] > 127){UARTrcvd = 1;} RXindex=0; } PIE3bits.U1RXIE = 1; } //S Motor駆動ステップ周期の割り込み void __interrupt(irq(IRQ_TMR3)) TMR3_ISR(void) { TMR3IF = 0; TMR3IE = 0; TMR3ON = 0; TMR3H = T3H;// TMR3L = T3L;// TMR3ON = 1; TMR3IE = 1; T3STEP = ~T3STEP; } //W Motor駆動ステップ周期の割り込み void __interrupt(irq(IRQ_TMR5)) TMR5_ISR(void) { TMR5IF = 0; TMR5IE = 0; TMR5ON = 0; TMR5H = T5H;// TMR5L = T5L;// TMR5ON = 1; TMR5IE = 1; T5STEP = ~T5STEP; } //1msec 周期割り込み void __interrupt(irq(IRQ_TMR2)) TMR2_ISR(void) { TMR2IF = 0; TMR2IE = 0; count0 ++;//SWRサーチ経過時間 count1 ++;//LEDタイミング時間 lastsavecnt++;if (lastsavecnt > 10000){lastsavecnt = 10000;} count3 ++;//SWRと周波数を送信する間隔 TXinterbal ++;if (TXinterbal > 2000) { TXinterbal = 2000;} if (stby_release == 1){stby_cunt ++;if (stby_cunt >1000){STBY = 0;stby_release = 0;Motor_ON = 0;}}//Motor動作モードからStnd-byに移るまでのディレー TMR2IE=1; } void main() { __delay_ms(150); uchar Stepdisp = 1; uchar a,st; OSCCON1 = 0b01110000; //Fosc Xtal 24MHz NDIV =1/1 ADCON0= 0b10010100 ; //右詰め ADC ON ADCRC ON ADREF = 0; //VDD-VSS間 PORTA = 0b00000000; // TRISA = 0b00010111; //RA0-2,4 入力設定 他は出力 ANSELA = 0b00000011; //ADコンバーターAN0,1使用 PORTB = 0b00000000; //Motor Driver TRISB = 0b00000000; // RB0-RB7出力 ANSELB = 0b00000000; //ADコンバーター使用せず PORTC = 0b01000000; //ポートC　RC6=H UART TX TRISC = 0b10110011; //RCポート2,3,6出力 0,1,4,5,7 input ANSELC = 0b00000000; //ADコンバーター使用せず INLVLC = 0b00110000;//RC4,5 シュミットトリガー入力 SLRCONC = 0b00000000;// PORTD = 0b00000000; // TRISD = 0b00000000; ANSELD = 0b00000000; PORTE = 0x00; TRISE = 0x00;// 全ポート出力 ANSELE = 0x00; //ADコンバーター使用せず U1RXPPS = 0b010111;//U1RXをRC7に設定 RC6PPS = 0b010011;//RC6をUART1 TXに設定 T0CKIPPS = 0b0000100;//RA4 INTCON0 = 0b00100000;//全割り込み禁止　割り込みプライオリティーH/L U1RXPPS = 0b00010001;//U1RXをRC1に設定 nEN = 0; //周波数カウンター T0CON0 = 0b00010000; //TMR0 OFF 16bit 1:1 T0CON1 = 0b00110000; //入力T0CKIPPS 非同期 プリスケーラ1/1 T1CON = 0b00000110; //Timer1 16bit、1/1プリスケーラ T1GCON = 0b00000000; //TMR1 ゲートON T1GCONbits.GE = 1 T1CLK = 0b00000010; // Fosc/1 TMR1ON = 0;//タイマー１停止　１：カウント //1msec 周期割り込み T2CON = 0x01; //Timer2 post 1/15 プリスケーラ 1/2 T2CLK = 0x05; //500KHz T2TMR = 0x00; // カウンター初期値 T2PR = 249;// PIE4bits.TMR2IE = 1; PIR4bits.TMR2IF = 0; T2CONbits.ON = 1; //Sステッピングモーター駆動周期　１００Hzから400hzを可変 T3CON = 0b00010110; //CKPS=1/2(3MHz) 16bit Timer3 OFF シンクロ無し T3CLK = 0b00000001; //FOSC/4:6MHz TMR3H = T3H;// TMR3L = T3L;// // T5H = T3H;T5L = T3L; //Wステッピングモーター駆動周期　１００Hzから400hzを可変 T5CON = 0b00010110; //CKPS=1/2(3MHz) 16bit Timer5 OFF シンクロ無し T5CLK = 0b00000001; //FOSC/4:6MHz TMR5H = T5H;// TMR5L = T5L;// U1TXB = 0;//割り込み許可前にクリア U1CON0 = 0xB0;//0b10110000; //TX RX 有効　8bit BRGS=1 U1CON1 = 0x80;//0b10000000; //通信開始時 U1CON1bits.ON : 1 U1CON2 = 0x44;//0b01000100; // TXPOL(2bit):1の時アイドルL　RXPOL(6bit);1のときアイドルL U1BRGL = 0x70; // L+ H=624 : 9600ボー 4800ボー　1249 U1BRGH = 0x02; // Div =((24000000/9600)/4)-1=624(0x270) PIE3bits.U1RXIE = 1; //UART RX1 受信 割り込み許可 PIR3bits.U1RXIF = 0; ADPCH = 0b00000001; //AN1 AD変換設定 ADCON0 = 0b10010100;//ADC有効　クロックADCRC 右詰め　 BLED = 0;//RLED=0; a = eepdata_read(1017);//eeodata check if (a != Bindexmax){saveFreqList();}//Bindexmaxに変更があった場合、EEPROM書き換え BFCNT = 2; RXindex = 0; DbugOK = 0; INTCON0bits.GIEH = 1;//全割込み許可 INTCON0bits.GIEL = 1; stby_release = 0; maxACC = maxstep;//台形駆動のMAXステップ TMR3IE = 1;TMR5IE = 1; // goto LST002;//MORTOR初期設定を禁止する場合//を外す。 initMotorDriver();//Motor Driver 初期設定 YLED = STBY; initMotorSet();//Motor ０角度の初期設定 // while(1); // __delay_ms(500); // takelastdata(); // presetVCposition(SVCtrgt,WVCtrgt,0);//SVC位置,WVC位置,センサーでstop検出する:1 しない:0 LST002: //ATU初期設定完了を送信 lastTUNEFreq = 1790; takeMonStep(); CompFrqList = 0; lastBindex = Bindex; // __delay_ms(500); TXBufa[0] = 127; TXBufa[1] = 0; TXBufa[2] = 0; uart_short_send(TXBufa); SVCdir=1; WVCdir=1; SMSTOP = 1;WMSTOP = 1;//MOTOR beake lastsendFreq = 100; saveReq = 0; motorStandby(0);//STBY有効 count3 = 0; Blink = 0;Gled = 0;Oled = 0;ckswr = 0; VCselect = 1; CMPD = 0; lastTUNED = TUNED; while (1) { YLED = STBY; DbugOK = 1; if ((TUNED != lastTUNED) && (TUNED == 0)){ TUNEstart = 0; lastTUNED = TUNED; } if (MonIndexFlg == 1){saveMonStep();} getSWR(); takeTUNEFreq(); if ((Vfwd > 70 ) && (count3 > 2000)){ sendUARTshortData(sendFreq); sendUARTshortData(sendSWR); count3 = 0; } startcheck(); st = stopcheck(); // if (UARTrcvd == 1) {saveFreqList();UARTrcvd = 0;} M_UPcheck(); M_DOWNcheck(); // if (CompFrqList == 0){makeFreqList();} L3ON = L2TAP; if (lastBindex != Bindex){ Freq = takeCenterFreq(Bindex); lastsavecnt = 0;saveReq = 1; lastBindex = Bindex; saveReq = 1; } check30mBand(); if ((TUNEstart == 0) && (presetCallREQ == 1)) { motorStandby(1); TUNED = 0;BLED=0; get_presetdata(Bindex); BLED=TUNED; sendUARTshortData(sendETC); TUNEFreq = takeCenterFreq(Bindex); sendUARTshortData(sendFreq); presetVCposition(SVCtrgt,WVCtrgt,0); sendUARTshortData(sendSVCang); sendUARTshortData(sendWVCang); saveReq = 1;lastsavecnt = 0; presetCallREQ = 0; motorStandby(0); START = 0;STOP = 0; } if(TUNEstart == 1){//TUNEスタート // motorStandby(1); ckswr=0; TUNED = 0;BLED=0; getSWR(); sendUARTshortData(sendSWR); if ((Vfwd >=70) && (Vfwd < 4100)){ Gled = 1;Blink=0;sendUARTshortData(sendETC); //コントローラーのGRN LED on START = 0; ckswr=sarchswr(VCselect); }else{motorStandby(0);Blink=1;Gled=1;sendUARTshortData(sendETC);} Blink=0;Gled=0; START = 0;STOP = 0; TUNEstart = 0; } LST003: if (ckswr != 0) { STOP = 0; TUNEstart = 0; Gled = 0; if (ckswr == 1) { TUNED = 1; takeTUNEFreq(); sendUARTshortData(sendFreq); save_presetdata(TUNEFreq); savelastdata(); sendUARTshortData(sendETC); sendUARTshortData(sendSWR); sendUARTshortData(sendSVCang); sendUARTshortData(sendWVCang); TUNED = 0; saveReq = 1;lastsavecnt = 0; motorStandby(0); ckswr = 0; } if ((ckswr >= 2) && (ckswr < 5)){ Oled = 1;Blink = 1;sendUARTshortData(sendETC);Oled=0;Blink=0;//コントローラーのRED LED on lastsavecnt = 0;saveReq = 1; ckswr = 0; motorStandby(0); } } } }