?? main.c
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/*
*/
#include "register.h"
#define lcd_i 0x1801 /*E=1 RS=0 R/W=0*/
#define lcd_d 0x1805 /*E=1 RS=1 R/W=0*/
#define lcd_c 0x1800 /*E=0 RS=0 R/W=0*/
float p10,p11,p12,p13,p20; /*System Parameters*/
float p00[10]; /*定位位置適*/
long int m00,m01,m02; /*Dispaly Parameters*/
unsigned int m03; /*Valve signal dispaly*/
int PT_counter; /*PT_counter:定位時間間隔計數器*/
int D_counter; /*D_counter:實時顯示計數器10個定時器中斷顯示一次*/
int PM_counter; /*PM_counter:參數設定計數器*/
unsigned int P_feedback; /*P_feedback:位移采樣值*/
float P_ins; /*P_ins位置信號指令*/
long int mv_ins; /*比例閥指令*/
float bp[11]={146,306,726,1245,1665,1825,1665,1245,726,306,146};/*位移采樣濾波系數 */
float x[11]={0,0,0,0,0,0,0,0,0,0,0};
float bv[6]={0.028393,0.1427,0.3289,0.3289,0.1427,0.028393};
float vx[6]={0,0,0,0,0,0};
float px2,px1,v2,v1,integral;
unsigned char ready[19]={"Controller is ready"};
unsigned char autom[17]={"Run automatically"};
unsigned char manu[12]={"Run manually"};
unsigned char reset[12]={"System Reset"};
unsigned char ld[13]={"Long-Distance"};
unsigned char param[10]={"Parameters"};
unsigned char dism00[10]={"M00=000.00"};
unsigned char dism01[10]={"M01=000.00"};
unsigned char dism02[10]={"M02=000.00"};
/****************************************/
/****************************************/
/* Disable interrupts */
inline void disable()
{
asm(" setc INTM");
}
/* Enable interrupts */
inline void enable()
{
asm(" clrc INTM");
}
/****************************************/
/* Do uart interrupt */
void interrupt uart()
{
return;
}
/****************************************/
/* Do timer interrupt */
void interrupt timer()
{
adreset=0x00ff;
asm(" clrc xf");
asm(" setc xf");
asm(" clrc INTM");
if(D_counter==9)D_counter=0;
if(PT_counter==999)PT_counter=0;
D_counter++; /*實時顯示計數器*/
PT_counter++;
return;
}
/****************************************/
/* Do A/D int23 interrupt */
void interrupt adint23()
{ float Filter ();
float Differential();
float f_p,error,velocity,acc; /*f_p:浮點位移值*/
float valve_ins;
P_feedback=ad0; /*位置采樣*/
x[10]=x[9]; /*FIR濾波*/
x[9]=x[8];
x[8]=x[7];
x[7]=x[6];
x[6]=x[5];
x[5]=x[4];
x[4]=x[3];
x[3]=x[2];
x[2]=x[1];
x[1]=x[0];
x[0]=(float)P_feedback;
f_p=Filter(x,bp,10)/10000;
f_p=f_p*210/65535; /*轉換位置值單位mm*/
m01=(long int)(f_p*100); /*反饋位置顯示*/
error=P_ins-f_p; /* 偏差值*/
/***********求速度*************************/
px2=px1;
px1=f_p;
vx[6]=vx[5];
vx[5]=vx[4];
vx[4]=vx[3];
vx[3]=vx[2];
vx[2]=vx[1];
vx[1]=vx[0];
vx[0]=Differential( px2, px1, 0.001);
velocity=Filter(vx,bv,5);
/***********求加速度*************************/
v2=v1;
v1=velocity;
acc=Differential( v2, v1, 0.001);
/***********求積分**************************/
if((abs(error)<10)&&(abs(error)>0.1))
{integral=integral+error;}
else integral=0;
/***********算法*****************************/
valve_ins=p10*error*0.01+p11*integral*0.01+p12*velocity*0.001+p13*acc*0.00001;
valve_ins=valve_ins*2047;
mv_ins=(int)valve_ins+0x7ff;
if(mv_ins>=4095)
{ mv_ins=0xfff;}
if(mv_ins<=0)
{ mv_ins=0x000;}
CSDA=mv_ins;
return;
}
/****************************************/
float Filter (xx,bb,k) /*濾波器 */
float xx[11],bb[11];
int k;
{ float y;
int i;
y=0;
for(i=0;i<=k;i++)
{
y=xx[i]*bb[i]+y;
}
return(y);
}
float Differential( x2, x1, t) /*微分 */
float x1,x2,t;
{float dx;
dx=(x2-x1)/t;
return (dx);
}
/****************************************/
/***************************************/
/* Do nothing interrupt */
void interrupt nothing()
{
return;
}
/****************************************/
void lcddelay() /*lcd Delay*/
{ int ii;
ii=1;
while(ii<=100)
{ ii++;
}
return;
}
void lcdcom(com) /*lcd Instruction signal*/
unsigned int com;
{ IOSR=lcd_i;
asm(" NOP");
CSLCD=com;
asm(" NOP");
IOSR=lcd_c;
lcddelay();
IOSR=0x1808;
return;
}
void lcddat(dat) /*lcd Data signal*/
unsigned int dat;
{ IOSR=lcd_d;
CSLCD=dat;
asm(" NOP");
IOSR=lcd_c;
lcddelay();
IOSR=0x1808;
return;
}
void lcddispaly(com,dat) /*lcd Dispaly */
unsigned int com,dat;
{
lcdcom(com);
lcddat(dat);
return;
}
/***************run_time Dispaly***********************/
void run_time_dispaly()
{ int m004,m005,m006,m008,m009;
int m014,m015,m016,m018,m019;
int i,n;
unsigned int lcddb;
m00=(long int)(P_ins*100);
m004=m00/10000;
m005=m00/1000-m004*10;
m006=m00/100-m004*100-m005*10;
m008=m00/10-m004*1000-m005*100-m006*10;
m009=m00-m004*10000-m005*1000-m006*100-m008*10;
dism00[4]=(char)(m004+0x30);
dism00[5]=(char)(m004+0x30);
dism00[6]=(char)(m004+0x30);
dism00[8]=(char)(m008+0x30);
dism00[9]=(char)(m009+0x30);
i=4; /*m00 Dispaly*/
lcddb=0x98;
while(i<10)
{
lcdcom(lcddb);
lcddat(dism00[i]);
lcddb++;
i++;
}
m014=m01/10000;
m015=m01/1000-m004*10;
m016=m01/100-m004*100-m005*10;
m018=m01/10-m004*1000-m005*100-m006*10;
m019=m01-m004*10000-m005*1000-m006*100-m008*10;
dism01[4]=(char)(m014+0x30);
dism01[5]=(char)(m014+0x30);
dism01[6]=(char)(m014+0x30);
dism01[8]=(char)(m018+0x30);
dism01[9]=(char)(m019+0x30);
i=4; /*m01 Dispaly*/
lcddb=0xA2;
while(i<10)
{
lcdcom(lcddb);
lcddat(dism01[i]);
lcddb++;
i++;
}
m03=CSDA; /*m03 Dispaly*/
if((m03>=0x7AE)&&(m03<=0x850))
{ lcdcom(0x09);
lcddat(0x3E);
lcdcom(0x0A);
lcddat(0x3C);
}
else
{ if(m03<0x7ff)
n=m03/0xE3;
i=1;
lcddb=0x88;
while(i<=n)
{
lcdcom(lcddb);
lcddat(0xFF);
lcddb--;
i++;
}
if(m03>0x7ff)
n=(m03-0x7FF)/0xE3;
i=1;
lcddb=0x8B;
while(i<=n)
{
lcdcom(lcddb);
lcddat(0xFF);
lcddb++;
i++;
}
}
return;
}
/****************自動運行************************/
void automat()
{ int i,j;
unsigned int lcddb;
enable(); /* Enable all interrupts */
CSLED=0x8000;
i=0;
lcddb=0xd4;
while(i<17)
{
lcdcom(lcddb);
lcddat(autom[i]);
lcddb++;
i++;
}
i=0; /*定位循環*/
while(i<2)
{ P_ins=p00[i];
delay: IOSR=0x1800;
if(PT_counter<999)
{
IOSR=0x1808;
if(D_counter==9)
{ run_time_dispaly();}
goto delay;
}
i++;
}
IOSR=0x1800;
return;
}
/****************手動運行************************/
void manual()
{ int i;
unsigned int lcddb;
enable(); /* Enable all interrupts */
CSLED=0x1000;
i=0;
lcddb=0xd4;
while(i<12)
{
lcdcom(lcddb);
lcddat(manu[i]);
lcddb++;
i++;
}
return;
}
/****************示教************************/
void autostudy()
{ int i;
unsigned int lcddb;
CSLED=0x2000;
i=0;
lcddb=0xd4;
while(i<12)
{
lcdcom(lcddb);
lcddat(manu[i]);
lcddb++;
i++;
}
return;
}
/*****************參數設定***********************/
void paramselect()
{ int i;
unsigned int lcddb;
CSLED=0x0008;
i=0;
lcddb=0xd4;
while(i<10)
{
lcdcom(lcddb);
lcddat(param[i]);
lcddb++;
i++;
}
return;
}
/*****************復位***********************/
void sysreset()
{ int i;
unsigned int lcddb;
CSLED=0x0200;
enable(); /* Enable all interrupts */
i=0;
lcddb=0xd4;
while(i<12)
{
lcdcom(lcddb);
lcddat(reset[i]);
lcddb++;
i++;
}
return;
}
/*****************聯機***********************/
void online()
{ int i;
unsigned int lcddb;
CSLED=0x4000;
i=0;
lcddb=0xd4;
while(i<19)
{
lcdcom(lcddb);
lcddat(ready[i]);
lcddb++;
i++;
}
return;
}
/*****************遠程***********************/
void l_d()
{ int i;
unsigned int lcddb;
CSLED=0x0040;
i=0;
lcddb=0xd4;
while(i<13)
{
lcdcom(lcddb);
lcddat(ld[i]);
lcddb++;
i++;
}
return;
}
/****************************************/
/****************************************/
main()
{
unsigned int lcddb,butsample,butsample1;
int m,i;
/*****System initialization*****/
asm(" clrc CNF");
disable(); /* Disable all interrupts */
*IFR=0xFFFF; /* Clear interrupts */
*IMR=0x0006; /* 中斷設定 */
ICR=0x0015;
WSGR=0x0400; /* Set wait states */
/******Timer initialization,采樣頻率1ms****/
BRD=0x4E1F; /* 加載定時器計數寄存器 */
TIM=0xFFFF; /* 加載定時器周期寄存器 */
TCR=0x0c20; /* 加載定時器控制寄存器 */
ASPCR=0x000f; /* IO0-IO3 are configed as output*/
/**** LCD initialization Starts****/
IOSR=0x1800;
m=0;
while(m<=500)
{ m++;
lcddelay();
}
lcddb=0x0001; /*Dispaly Clear*/
lcdcom(lcddb);
m=0;
while(m<=150) /* delay*/
{m++;
lcddelay();
}
lcddb=0x0038; /* Set function */
lcdcom(lcddb);
m=0;
while(m<=150) /* Delay*/
{m++;
lcddelay();
}
lcddb=0x000c; /*Dispaly on/off*/
lcdcom(lcddb);
lcddb=0x0006; /*Entry mode set*/
lcdcom(lcddb);
lcddelay();
/****** LCD initialization Ends*****/
/********System Parameters initialization starts*/
P_ins=5;
p10=27;
p11=0;
p12=10;
p13=20;
px2=0;
px1=0;
v2=0;
v1=0;
integral=0;
/********System Parameters initialization ends*/
CSLED=0x0000;
CSDA=0x07ff; /* Valve mid signal*/
/***********************************************/
i=0; /*Controller is ready*/
lcddb=0xd4;
while(i<19)
{
lcdcom(lcddb);
lcddat(ready[i]);
lcddb++;
i++;
}
i=0; /*m00 Dispaly*/
lcddb=0x94;
while(i<10)
{
lcdcom(lcddb);
lcddat(dism00[i]);
lcddb++;
i++;
}
i=0; /*m01 Dispaly*/
lcddb=0x9E;
while(i<10)
{
lcdcom(lcddb);
lcddat(dism01[i]);
lcddb++;
i++;
}
lcdcom(0x89);
lcddat(0x3E);
lcdcom(0x8A);
lcddat(0x3C);
/**** Initialization Ends*********/
loop: IOSR=0x1800;
butsample=0x8000;
switch(butsample)
{case 0x8000 : automat();break;
case 0x4000 : online();break;
case 0x2000 : autostudy();break;
case 0x1000 : manual();break;
case 0x0200 : sysreset();break;
case 0x0040 : l_d();break;
case 0x0008 : paramselect();break;
default : IOSR=0x1808; goto loop;
}
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