?? pid.c
字號:
#include "2407c.h"
#include "PID.h"
#include "lcd.h"
ioport unsigned int port8000;
ioport unsigned int port8003;
ioport unsigned int port8004;
ioport unsigned int port8006;
ioport unsigned int port8005;
// 大液晶控制板控制字 ----------------------------------------------------------
#define CTRSTATUS port8000 //port8000
#define CTRLED port8004 // port8004
#define MCTRKEY port8005 // port8005
#define CTRCLKEY port8006 // port8006
#define CTRSTATUS port8000 //port8000
#define CTRGR port8000 //port8000
#define CTRMOTORBSPEED port8003
void LCDPutString(unsigned int *pData,int x,int y,unsigned int nCharNumber,unsigned color);
void PIDControl(int rk,int yk);
void Delay(unsigned int nTime); // 延時子程序
void PrintParameters();
void interrupt gptime1(void);
void gp_init(void);
int i=0,nnn;
unsigned int nCount,nCount_1=1,nCount1,nCount2,nCount3,nCount4,nJSSpeed,nJSSpeed_1=1,uWork;
unsigned int uLBD;
float a=0.6f,b=0.2f,c=0.1f,duk;
int ek,ek1,ek2,tz;
int nInput;
int nSSS,pwm,pwm1;
int md,wc;
unsigned int nScreenBuffer[30*128],pidnCount3,piduN;
int m_nSpeed,m_bPCSet;
unsigned int ccc;
int uN;
main()
{
unsigned int uWork1;
int inputspeed;
int breakflage;
int speed[100],sp,lj;
float ljh;
int i,w1,w2,w3;
*WSGR=0x09;
*WDCR=0x6f;
*WDKEY=0x5555;
*WDKEY=0xaaaa;
*SCSR1=0x81fe; //40m
asm(" setc INTM");
for ( sp=0;sp<100;sp++ ) speed[sp]=0;
for ( sp=0;sp<(30*128);sp++ ) nScreenBuffer[sp]=0;
sp=nSSS=nCount=nCount1=nCount2=nCount3=nCount4=nJSSpeed=0; nInput=tz=wc=0;
ek=ek1=ek2=0;
uN=30; md=70; pwm1=60;
m_nSpeed=70; m_bPCSet=0;
inputspeed=0;
uWork1=0;
breakflage=0;
CTRGR=0x80;
CTRGR=0;
CTRGR=0x80;
uWork=(*MCRC);
uWork&=0x0ffc0; /* PWM11/IOPE5,PWM12/IOPE6 for normal I/O ports */
(*MCRC)=uWork;
gp_init();
*IMR=0x3;
*IFR=0xffff;
nCount=0;
uWork=(*WSGR);
uWork&=0x0fe39;
(*WSGR)=uWork;
// 設置顯示參數(shù)和內(nèi)容
LCDSetDelay(1); // 設置延時等待參數(shù)
LCDSetScreenBuffer(nScreenBuffer); // 顯示緩沖區(qū)
LCDTurnOn(); // 打開顯示
LCDCLS(); // 清除顯示內(nèi)存
LCDPutCString(str1,0,127,8,0);
LCDPutCString(str2,0,111,2,1);
LCDPutCString(str3,68,111,2,1);
LCDPutCString(str6,0,95,2,1);
LCDPutCString(str5,68,95,2,1);
LCDPutCString(str7,0,79,3,1);
LCDPutCString(str4,68,79,2,1);
ShowParameters(); // 參數(shù)顯示
CTRGR=01;
asm(" clrc INTM");
Delay(128);
for(;;)
{
//讀鍵盤值
uWork1=MCTRKEY;
uWork1 &=0xff;
CTRCLKEY=0;
if(uWork1==4)
{ Delay(500);
uWork1=MCTRKEY;
uWork1 &=0xff;
CTRCLKEY=0;
md+=10;
ShowParameters(); // 顯示各參數(shù)值到LCD
}
if(uWork1==8)
{ Delay(500);
uWork1=MCTRKEY;
uWork1 &=0xff;
CTRCLKEY=0;
md-=10;
ShowParameters(); // 顯示各參數(shù)值到LCD
}
if(uWork1==1)
{
Delay(500);
uWork1=MCTRKEY;
uWork1 &=0xff;
CTRCLKEY=0;
md+=1;
ShowParameters(); // 顯示各參數(shù)值到LCD
}
if(uWork1==2)
{
Delay(500);
uWork1=MCTRKEY;
uWork1 &=0xff;
CTRCLKEY=0;
md-=1;
ShowParameters(); // 顯示各參數(shù)值到LCD
}
Delay(5);//延時，
if (nJSSpeed_1==0) // 讀取速度標志
{
nJSSpeed_1=1;
nJSSpeed=0;
//ccc=CTRMOTORBSPEED; // 從端口讀取速度計數(shù)
ccc=port8003;
ccc=ccc&0xff;
nSSS=ccc;
if ( nSSS>=0 && nSSS<400 ) // 合法性檢測
{
speed[sp]=nSSS; // 讀取66個計數(shù)值
sp++; sp%=16;
}
if ( sp==0 ) // 是否已經(jīng)讀了66個速度？
{ // 以下求速度平均值
lj=0; ljh=0;
for ( i=0;i<16;i++ )
{
if ( speed[i]>=0 && speed[i]<400 )
{
ljh+=speed[i];
lj++;
}
}
wc=( lj==0 )?(0):(ljh/lj);
if ( wc>300 )
{
wc=0;
}
//nCount3++; nCount3%=3;
//if ( nCount3==2 )
//{
PIDControl(md,wc); // 調(diào)用PID算法控制程序進行控制
uN=(100-pwm1)/2; // 利用占空比調(diào)整控制
ShowParameters(); // 顯示各參數(shù)值到LCD
// }
//PrintParameters();
nJSSpeed_1=1;
}
}
}
}
#define Hz200 50
#define Hz1 10000
void interrupt gptime1(void)
{ int fuzhi=0;
uWork=(*PIVR);
switch(uWork)
{
case 0x27:
{
(*EVAIFRA)=0x80;
//key();
uWork=(*PEDATDIR);
uWork|=0x6000;//設置pwm11和pwm12為io輸出模式
if(nCount1<=uN)
{uWork=(*PEDATDIR);
uWork&=0x60DF;
(*PEDATDIR)=uWork;}
if(nCount1>uN)
{uWork=(*PEDATDIR);
uWork|=0x6020;
(*PEDATDIR)=uWork;}
nCount1++; nCount1%=Hz200;
if ( nCount2==0 )
{
if(nnn==0) {uWork=(*PEDATDIR);
uWork|=0x6000;uWork&=0x60BF;(*PEDATDIR)=uWork;}
if(nnn==1) {uWork=(*PEDATDIR);
uWork|=0x6000;uWork|=0x6040;(*PEDATDIR)=uWork;}
nnn=1-nnn;
}
nCount2++; nCount2%=Hz1;
nJSSpeed++; nJSSpeed%=12000/8; // 讀取速度標志
if(nJSSpeed==0)
{nJSSpeed_1=0;}
/* nCount++; nCount%=51200;
if(nCount==0)
{nCount_1=0;}*/
break;
}
}
}
void gp_init(void)
{
*EVAIMRA = 0x80;
*EVAIFRA = 0xffff;
*GPTCONA = 0x0100;
//*T1PR = 0xe80;//燒到flash中運行用此參數(shù)
*T1PR = 0x200; //ram中運行用此參數(shù)
*T1CNT = 0;
*T1CON = 0x1040;
}
void Delay(unsigned int nDelay)
{
int i,j,k;
for ( i=0;i<nDelay;i++ )
for ( j=0;j<16;j++ )
k++;
}
// PID算法控制子程序-------------------------------------------------------------------------
void PIDControl(int rk,int yk)
{
ek=rk-yk;
duk=a*ek+b*ek1+c*ek2; // 計算控制輸出
ek2=ek1; ek1=ek;
if ( duk>5 ) duk=4; // 幅度限制
if ( duk<-4 ) duk=-4; // 幅度限制
tz=(int)duk;
pwm1+=tz; // 計算當前占空比
if ( pwm1<0 ) pwm1=0;
else if ( pwm1>99 ) pwm1=99;
}
void LCDPutString(unsigned int *pData,int x,int y,unsigned int nCharNumber,unsigned color)
{
int i,j,l;
unsigned int k,mcolor;
for ( l=0;l<nCharNumber;l++ )
for ( i=0;i<8;i++ )
{
k=1;
for ( j=0;j<16;j++,k<<=1 )
{
if ( color==2 ) mcolor=2;
else
{
mcolor=( pData[l*8+i]&k )?(1):(0);
if ( color==0 ) mcolor=1-mcolor;
}
LCDPutPixel(x+l*8+i,y-j,mcolor);
}
}
}
// 顯示參數(shù)到LCD
void ShowParameters()
{
int w1,w2,w3;
w1=md%1000/100; w2=md%100/10; w3=md%10;
LCDPutString(numbers+w1*8,36,111,1,1);
LCDPutString(numbers+w2*8,44,111,1,1);
LCDPutString(numbers+w3*8,52,111,1,1);
w1=wc%1000/100; w2=wc%100/10; w3=wc%10;
LCDPutString(numbers+w1*8,104,111,1,1);
LCDPutString(numbers+w2*8,112,111,1,1);
LCDPutString(numbers+w3*8,120,111,1,1);
if ( ek>=0 )
{
LCDPutString(numbers+88,36,95,1,1);
w3=((int)ek)%100;
}
else
{
LCDPutString(numbers+96,36,95,1,1);
w3=((int)(-ek))%100;
}
w1=w3%100/10; w2=w3%10;
LCDPutString(numbers+w1*8,44,95,1,1);
LCDPutString(numbers+w2*8,52,95,1,1);
if ( tz>=0 )
{
LCDPutString(numbers+88,104,95,1,1);
w3=tz;
}
else
{
LCDPutString(numbers+96,104,95,1,1);
w3=(-tz);
}
w1=w3%100/10; w2=w3%10;
LCDPutString(numbers+w1*8,112,95,1,1);
LCDPutString(numbers+w2*8,120,95,1,1);
w1=pwm1%100/10; w2=pwm1%10;
LCDPutString(numbers+w1*8,44,79,1,1);
LCDPutString(numbers+w2*8,52,79,1,1);
LCDPutString(numbers+80,60,79,1,1);
LCDRefreshScreen();
}
int wwcc;
void PrintParameters()
{
wwcc=wc-md;
printf("測速[%3d] 設置[%3d] 誤差[%+4d] PID調(diào)整量[%+3d] 占空比[%3d%%]\n",
wc,md,wwcc,tz,pwm1);
}
// No more.
//========================================
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