/*****************************/
/*         主程序            */
/*****************************/
#include <stdio.h>
#include <conio.h>
#include "ApiEx.h"
#pragma comment(lib,"ApiEx.lib")

void  suanfa(float);		/*算法函數*/
void  zhongduan();		/*中斷函數*/

int 	count=0;
float 	ck=0,e=0,eka=0,fk1=0,gk1=0,fk,ek1=0,ek2=0;
BYTE x;

void main()
{
	printf("Press any key to begin!\n\n");
	getch();
	if(!Startup())		/*打開設備*/
	{
		printf("ERROR: Open Device Error!\n");
		return;
	}
		PortWriteByte(0x283,0x35);		/*初始化8253通道0為方式2*/
		PortWriteByte(0x280,0x00);		//定時1ms
		PortWriteByte(0x280,0x10);

		PortWriteByte(0x283,0x77);		/*初始化8253通道1為方式0*/
		PortWriteByte(0x281,0x10);		//定時10ms
		PortWriteByte(0x281,0x00);

		RegisterLocalISR(zhongduan);			/*注冊中斷程序*/

		EnableIntr();					/*開中斷*/
		while(!kbhit()) Sleep(10);
		DisableIntr();				/*關中斷*/	

	Cleanup();		/*關閉設備*/
}

/*******************************/
/*        中斷定時子程序        */
/*******************************/
void  zhongduan()
{	
	PortWriteByte(0x298,0);                 /*啟動A/D*/
	PortReadByte(0x298,&x);
	ck=x;	
	{
		e=5-(ck/255)*5;
		suanfa(e);	
	}	
	return;
}

/*******************************************/
/*        積分分離式PID算法子程序          */
/*******************************************/
void suanfa(float ek)
{
	#define Kp 	20		// 實際20
	#define Ki 	3	 	// 實際
	#define Kd 	1 		// 實際
	#define T 	12		// 實際
	#define Ti 	80		// 實際80
	#define Td 	0.6		// 實際0.6

	float A,B,C,gk,uk;
	byte  uk2;
	if(count==0)
	{
		count++;
		uk2=0;
		PortWriteByte(0x290,uk2);		//DA輸出u(k)
		Sleep(15000);
	}

	
		{
			A=Kp*(1+T/Ti+Td/T);
			B=Kp*(1+2*Td/T);
			C=Kp*Td/T;
		
			uk=A*ek+gk1;
			uk2=uk/5*255;
			if(uk>=5)	uk2=200;		//限幅
			uk2=255;				//此程序中只有這一句才有用

			PortWriteByte(0x290,uk2);		//DA輸出u(k)
			gk=uk-B*ek+C*ek1;			
			gk1=gk;
			ek1=ek;
		}
	return;
}