?? p調節.txt
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#include <iom16v.h>
#include <macros.h>
#define uchar unsigned char
#define uint unsigned int
char dis_buff[6]; // 顯示緩沖區，存放要顯示的8個字符的段碼值
char dis_buff2[6]={0,0,0,0,0,0};
uchar Data1[4]={10,0,5,0}; //定義初始方波占空比：50％
uchar Data2[4]={10,0,5,0};
uchar Key1_Flag,Key2_Flag,q,s=0,u,t=0;
char time_1ms_ok,display_ok=0;
unsigned int freq_time,time0_old,time0_new,r,p=0,f,g;
int speed,num=0;
unsigned long int freq;
///////////////////////////////////////////
void DelayMs(uint i ) //Ms級延時，參數i為延時時間
{uint j;
for(;i!=0;i--)
{for(j=1142;j!=0;j--) {;}}
}
/////////////////////////////////////////////////
#define LCD_EN_PORT PORTA
#define LCD_RW_PORT PORTA
#define LCD_RS_PORT PORTA
#define LCD_DATA_PORT PORTA
#define LCD_DATA_DDR DDRA
#define LCD_DATA_PIN PINA
#define LCD_EN (1<<PA2) //portc5 out
#define LCD_RW (1<<PA1) //portd3 out/in
#define LCD_RS (1<<PA0) //portc4 out
#define LCD_DATA ((1<<PA4)|(1<<PA5)|(1<<PA6)|(1<<PA7)) //portd4/5/6/7 out
void delay_1us()
{
asm("nop");
}
/////////////////////////
void delay_nus(unsigned int n) //N us延時函數
{
unsigned int i=0;
for (i=0;i<n;i++)
delay_1us();
}
//////////////////////////
void delay_1ms(void) //1ms延時函數
{
unsigned int i;
for (i=0;i<1140;i++);
}
//////////////////////////////////
void delay_nms(unsigned int n) //N ms延時函數
{
unsigned int i=0;
for (i=0;i<n;i++)
delay_1ms();
}
////////////////////////////////////////
void LCD_en_write(void) //EN端產生一個高電平脈沖，寫LCD
{
LCD_EN_PORT |= LCD_EN;
delay_nus(1);
LCD_EN_PORT &= ~LCD_EN;
}
/////////////////////////////////////
void LCD_wait_Ready(void) //等待LCD空閑
{
LCD_DATA_DDR &= ~0x80; //PD7 I/O口方向設置為輸入
LCD_RW_PORT|=LCD_RW; //RW=1
LCD_RS_PORT&=~LCD_RS; //RS=0
LCD_EN_PORT |= LCD_EN; //EN=1
while (!( LCD_DATA_PIN&0x80 ) == 0); //RW=1,讀PD7，為0表示空閑?
LCD_EN_PORT &= ~LCD_EN; //EN=0
LCD_DATA_DDR |= 0xf0; //設置為輸出porta4/5/6/7
}
////////////////////////////////////
void LCD_write_char(unsigned char command,unsigned char data)
{ unsigned char command_temp,data_temp;
command_temp = command;
data_temp = data;
LCD_wait_Ready();
LCD_RW_PORT &= ~LCD_RW; //RW=0
if (command == 0)
{LCD_RS_PORT |= LCD_RS; //RS=1
LCD_DATA_PORT &= 0X0F;
LCD_DATA_PORT |= data_temp&0xf0; //send high 4bit
}
else
{
LCD_RS_PORT &= ~LCD_RS; //RS=0
LCD_DATA_PORT &= 0X0F;
LCD_DATA_PORT |= command_temp&0xf0;//send high 4bit
}
LCD_en_write();
command_temp=command_temp<< 4; //send low 4bit
data_temp=data_temp<<4;
LCD_DATA_PORT&=0X0F;
if (command==0)LCD_DATA_PORT|=data_temp&0xf0;
else
LCD_DATA_PORT|=command_temp&0xf0;
LCD_en_write();
LCD_RW_PORT|=LCD_RW;
LCD_RS_PORT^=LCD_RS;
delay_nus(1);
}
/////////////////////////////////////////////////////
void LCD_set_xy( unsigned char x, unsigned char y )
{
unsigned char address;
if (y == 0) address = 0x80 + x;
else
address = 0xc0 + x;
LCD_write_char( address, 0 );
}
//////////////////////////////////////
void LCD_write_string(unsigned char X,unsigned char Y,unsigned char *s)
{
LCD_set_xy( X, Y );
while (*s) {
LCD_write_char( 0, *s);
//delay_nus(70);
s ++;
}
}
/////////////////////////////////
void LCD_write_string1(unsigned char X,unsigned char Y,unsigned char dat)
{
LCD_set_xy( X, Y );
LCD_write_char( 0, dat);
}
/////////////////////////////////////////
void freq_to_disbuff() // 頻率值轉化為BCD碼送顯示緩沖區
{
char i,j=5;
//freq=freq/2;
for (i=0;i<=5;i++)
{
dis_buff[j-i]=freq%10;
freq=freq/10;
}
speed=100*dis_buff[3]+dis_buff[4]*10+dis_buff[5];
dis_buff2[0]=0x30|dis_buff[0];
dis_buff2[1]=0x30|dis_buff[1];
dis_buff2[2]=0x30|dis_buff[2];
dis_buff2[3]=0x30|dis_buff[3];
dis_buff2[4]=0x30|dis_buff[4];
dis_buff2[5]=0x30|dis_buff[5];
}
/////////////////////////////////////////////////////
/*void freq_to_speed()
{char i,j=5;
//freq=freq*10;
for (i=0;i<=5;i++)
{
dis_buff[j-i]=freq%10;
freq=freq/10;
}
speed=100*dis_buff[3]+dis_buff[4]*10+dis_buff[5];
}
*/
///////////////////////////////////////////////////
void LCD_init(void)
{
delay_nms(15);
LCD_write_char(0x28,0); //4bit test
LCD_write_char(0x0c,0); //顯示開
LCD_write_char(0x01,0); //顯示清屏
LCD_write_char(0x06,0); //顯示光標移動設置
}
/////////////////////////////////
void PIDB()
{int Ek=0; //本次偏差
int Ek_1=0; //上次偏差
int Ek_2=0; //上上次偏差
int y; //本次速度值
float u; //電壓差值
int z; //輸出增量
float t; //采樣時間
char temp1; //暫存
int v=90; //速度設定
//float k[3]; //PID參數記錄
float KP=0.5; //參數如何確定？
float TI=6;
float TD=0;
t=0.5; //需要重新確定itime給定采樣時間次數
//y=speed; //當前速度
Ek=v-speed; //當前速度差值
u=KP*Ek;//-Ek_1);//(t/TI)*Ek+(TD/t)*(Ek-2*Ek_1+Ek_2));
//z=u/5*255;//也需要調整
z=(15.5*u)/20;
//z=u;
temp1=OCR1AH*256+OCR1AL;
temp1=temp1+z;
if(temp1<=0) //結果小于0時輸出0
temp1=0x00;
if(temp1>=0x9B) //結果大于0xff時輸出0xF0
temp1=0x9B;
OCR1AH=temp1>>8;
OCR1AL=temp1&0x00ff;
OCR1BH=temp1>>8;
OCR1BL=temp1&0x00ff;
//Ek_2=Ek_1;
Ek_1=Ek;
}
////////////////////////////////////
#pragma interrupt_handler Timer2:4
void Timer2(void)
{
time0_new=TCNT0;//
time_1ms_ok=1;
if(++num==500)
{//freq_to_speed();
//h=speed;
//freq_to_disbuff();
PIDB();
num=0;
}
}
void Key_Process()
{while((PINC&0x10)==0) {Key1_Flag=1;}
while((PINC&0x20)==0) {Key2_Flag=1;}
while((PINC&0x40)==0) {q=1;}
while((PINC&0x80)==0) {t=1;}
if(Key1_Flag==1)
{ Key1_Flag=0;
//Add_Process(Data1);
}
if(Key2_Flag==1)
{//Sub_Process(Data1);
Key2_Flag=0;}
if(q==1)
{s=1;
q=0;
u=0;
}
if(t==1)
{u=1;
t=0;
s=0;
}
}
void pwm_init(void)
{
DDRD=(1<<PD4)|(1<<PD5);
PORTD=(1<<PD4)|(1<<PD5);
//TIMSK = 0x00;
TCCR1A=(1<<COM1A1)|(1<<WGM11)|(1<<COM1B1);
TCCR1B=(1<<WGM13)|(1<<WGM12)|(1<<CS11)|(1<<CS10);//64分頻
ICR1=155;
OCR1A=20;
OCR1B=20;
}
void for_ward()
{TCCR1A=(1<<WGM11);
PORTD&=~(1<<PD4);
PORTD&=~(1<<PD5);
TCCR1A=(1<<COM1A1)|(1<<WGM11);
PORTD&=~(1<<PD4);
PORTD&=~(1<<PD5);
//OCR1A=77;
}
void back_ward()
{ TCCR1A=(1<<WGM11);
PORTD&=~(1<<PD4);
PORTD&=~(1<<PD5);
TCCR1A=(1<<COM1B1)|(1<<WGM11);
PORTD&=~(1<<PD4);
PORTD&=~(1<<PD5);
//OCR1B=77;
}
////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////
void main(void)
{
char i;
DDRB=0x00;
PORTB=0x01;
DDRD=0xff; //設置D口為推挽1輸出
PORTD=0xff;
DDRC=0x00; //設置C口為三態輸入
PORTC=0x00;
DDRA|=LCD_DATA|LCD_RW;
DDRA|=LCD_RS|LCD_EN;
LCD_init();
LCD_write_char(0x01,0); //顯示清屏
LCD_write_string(0,0,"Freq: Hz");
LCD_write_string(0,1,"zkb: %");
asm("nop");
LCD_write_string1(5,0,0x30);
asm("nop");
LCD_write_string1( 6,0,0x30);
asm("nop");
LCD_write_string1( 7,0,0x30);
asm("nop");
LCD_write_string1( 8,0,0x30);
LCD_write_string1( 9,0,0x30);
LCD_write_string1( 0x0A,0,0x30);
LCD_write_string1(4,1,0x30);
LCD_write_string1(5,1,0x35);
LCD_write_string1(6,1,0x30);
asm("nop");
// T/C0初始化，外部計數方式
for( i=0;i<=5;i++)dis_buff[i]= 0;
pwm_init();
time0_old=0;
TCCR0=0x06; // 外部T0腳下降沿觸發計數，普通模式
TCNT0=0x00;
OCR0=0x00;
TCCR2=0x0C; // 內部時鐘，32分頻（8M/64=125KHz），CTC模式
TCNT2=0x00;
OCR2=0x7C; // OCR2 = 0x7C(124),(124+1)/125=1ms
TIMSK=0x80; // 允許T/C2比較匹配中斷
SEI(); // 開放全局中斷
while (1)
{
Key_Process();
/*if(++p>=2500)
{
set_Process();
change(); //設置PWM占空比
LCD_write_string1(4,1,Data2[1]);
LCD_write_string1(5,1,Data2[2]);
LCD_write_string1(6,1,Data2[3]);
p=0;
}
*/
if(s==1)
{for_ward();
}
if(u==1)
{back_ward();
}
if (time_1ms_ok)
{ // 累計T/C0的計數值
if (time0_new>=time0_old)freq=freq+(time0_new-time0_old);
else freq=freq+(256-time0_old+time0_new);
time0_old=time0_new;
if(++freq_time>=500)
{freq_time=0; // 100ms到，
freq_to_disbuff();// 將100ms內的脈沖計數值送處理
freq=0;
LCD_write_string1(5,0,dis_buff2[0]);
LCD_write_string1( 6,0,dis_buff2[1]);
LCD_write_string1( 7,0,dis_buff2[2]);
LCD_write_string1( 8,0,dis_buff2[3]);
LCD_write_string1(0x9,0,dis_buff2[4]);
LCD_write_string1( 0x0A,0,dis_buff2[5]);
}
time_1ms_ok=0;
}
}
}
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