春の訪れと体調不良

// ================================================================
// PIC12F1822 + VID6608 (Motor A) + X27.168 Tachometer Controller
// RA0: f(scx)A
// RA1: CW/CCWA
// RA2: RESET
// RA5: RPM pulse input (1 pulse = 1 rotation, from ignition secondary)
// ================================================================

#include <xc.h>
#define _XTAL_FREQ 32000000UL

#pragma config FOSC = INTOSC, WDTE = OFF, PWRTE = OFF, MCLRE = OFF
#pragma config CP = OFF, BOREN = ON, CLKOUTEN = OFF
#pragma config WRT = OFF, STVREN = ON, BORV = LO, LVP = OFF

#define PIN_FSCX   LATAbits.LATA0
#define PIN_DIR    LATAbits.LATA1
#define PIN_RESET  LATAbits.LATA2

#define STEPS_PER_DEG 12
#define MAX_DEG       300

unsigned int current_angle = 0;

// ---------------------------------------------------------------
// VID6608 PULSE OUTPUT
// ---------------------------------------------------------------
void vid_pulse(unsigned int delay_us)
{
    PIN_FSCX = 1;
    __delay_us(3);
    PIN_FSCX = 0;
    __delay_us(delay_us);
}

void vid_move_steps(unsigned long steps, unsigned int start_us, unsigned int end_us)
{
    long delta = (long)end_us - (long)start_us;

    for(unsigned long i = 0; i < steps; i++)
    {
        unsigned int d = start_us + (delta * (long)i) / (long)steps;
        vid_pulse(d);
    }
}

// ---------------------------------------------------------------
// ANGLE CONTROL API
// ---------------------------------------------------------------
void set_angle(unsigned int target_angle)
{
    if(target_angle > MAX_DEG) target_angle = MAX_DEG;

    if(target_angle == current_angle) return;

    long diff = (long)target_angle - (long)current_angle;
    unsigned long steps = (unsigned long)(labs(diff) * STEPS_PER_DEG);

    if(diff > 0)
    {
        PIN_DIR = 1; // CW
        vid_move_steps(steps, 1500, 300);
    }
    else
    {
        PIN_DIR = 0; // CCW
        vid_move_steps(steps, 300, 1500);
    }

    current_angle = target_angle;
}

// ---------------------------------------------------------------
// RPM → ANGLE (実車スケール・要検討)
// ---------------------------------------------------------------
unsigned int rpm_to_angle(unsigned int rpm)
{
    unsigned int angle;

    if(rpm <= 1000)
        angle = 10;
    else
        angle = 10 + (unsigned int)(20.0 * (rpm - 1000) / 1000.0);

    if(angle > MAX_DEG) angle = MAX_DEG;

    return angle;
}

// ---------------------------------------------------------------
// RPM MEASUREMENT (Timer1 external clock on RA5)
// ---------------------------------------------------------------
unsigned int read_rpm(void)
{
    unsigned int count = TMR1;
    TMR1 = 0;
    return count * 10;
}

// ---------------------------------------------------------------
// HOMING (原点復帰)
// ---------------------------------------------------------------
void homing(void)
{
    // CCW（逆回転）へゆっくり 350° 分パルスを送る
    // 350° × 12 = 4200 パルス
    PIN_DIR = 0; // CCW
    vid_move_steps(4200, 1500, 1500); // 一定低速で送る

    // ストッパーに当たってゼロ位置に固定されるはず・・
    current_angle = 0;
}

// ---------------------------------------------------------------
// MAIN
// ---------------------------------------------------------------
void main(void)
{
    OSCCON = 0b11110000;

    TRISA = 0b00101000;
    ANSELA = 0x00;

    // Timer1 external clock (RA5)
    T1CONbits.TMR1CS = 1;
    T1CONbits.T1CKPS = 0;
    T1CONbits.T1OSCEN = 0;
    TMR1 = 0;
    T1CONbits.TMR1ON = 1;

    // VID6608 RESET
    PIN_RESET = 0;
    __delay_ms(2);
    PIN_RESET = 1;
    __delay_ms(2);

    // ============================================================
    // ★ 電源投入時のホーミング（原点復帰）
    // ============================================================
    homing();
    __delay_ms(300);

    // ============================================================
    // ★ デモ動作（コメントアウト中）
    // ============================================================
    /*
    while(1)
    {
        set_angle(0);
        __delay_ms(500);

        set_angle(100);
        __delay_ms(500);

        set_angle(200);
        __delay_ms(500);

        set_angle(300);
        __delay_ms(500);

        set_angle(0);
        __delay_ms(1000);
    }
    */
    // ============================================================

    // ============================================================
    // ★ 実車モード（整形パルス入力で動作）
    // ============================================================
    while(1)
    {
        __delay_ms(100);
        unsigned int rpm = read_rpm();
        unsigned int angle = rpm_to_angle(rpm);
        set_angle(angle);
    }
}