/***************************************/
//2008/05/25   cs5463 collect .
//             alarm 电池电压
/***************************************/
#include <c8051f310.h>
#define   uchar  unsigned char
#define   uint   unsigned int
#define	  SYSCLK	      22118400
#define   BAUDRATE        2400
#define   SAMPLERATE0     50000         //ADC0采样频率
#define   VREF0           2908          //VERF电压(mV)
#define	  PWM_MIN         0x0a00
#define	  PWM_MAX         0xb000

#define	  VOL_MAX         3000         //电压报警
#define	  VOL_MIN         1600
#define	  FRE_MAX         600          //频率报警
#define	  FRE_MIN         400
#define	  BAT_MIN         1000         //电池电压报警<=10V


static    uchar data txcount = 0x00;    /*发送字数20*/
static    uchar idata  rs232tran[20];
static    uint  data time_count = 0x0000; /*定时*/

static    uint  data t0high = 0x0000;   /*T0液位加1*/
static    uchar data  cycle = 0x02;
static    uint      xdata frequency = 0x0000;
static    uint      xdata frequencyp = 0x0000;
static    uint      xdata fr_lo = 0x0000;
static    uint      xdata fr_hi = 0x0000;
static    uchar     data  int_time;
static    uint  data stop_count = 0x0000;

static    uint  data vol_count = 0x0000;       //发电机电压报警
static    uint  data fre_count = 0x0000;       //频率报警
static    uint  data bat_count = 0x0000;       //电池电压报警
static    uint  data pre_count = 0x0000;       //压力报警
static    uint  data count_tspeed = 0;      //开机检测转速，如果超过2400r/min,5秒后进入主程序


static    long      xdata result[1];              /*传感器输出结果*/
static    uint      xdata cresult[1];             /*运算输出结果*/
static    uchar data num_samples0 = 0;
static    uchar data num_samples1 = 0;
static    uint  xdata csamples0[20];
static    uint  xdata csamples1[20];
static    long  xdata voltage;
static    uint      xdata disp_resultp = 0x00;
static    uchar data keydata1;
static    uchar data keydata2;
static    uchar data keydata3;
static    uchar data keydata4;


static    uchar data count5463 = 0;         //1.5秒钟内读不到CS5463数据，复位CS5463
static    uchar idata cs5463rw[3]={0,0,0};  //cs5463读写寄存器
static    uchar idata cs5463tm[3]={0,0,0};  //cs5463读出状态
static    long      xdata aresult[2];       //cs5463传感器输出结果
static    uint      xdata acresult[2];      //cs5463运算输出结果,0:voltage 1:current
static    uint      xdata ac_vresult[40];
static    uint      xdata ac_iresult[40];
static    uchar     data  vi_count = 0;
static    uchar bdata alm_in = 0x01;       /*各种报警信号*/


/***************PID运算*****************/
/***ui = ui1+a0*ei-a1*ei1+a2*ei2*增量式*/
static    uint data con_a0;      //用内部寄存器
static    uint data con_a1;
static    uint data con_a2;
static    uint  data con_ei;
static    uint  data con_ei1;
static    uint  data con_ei2;
static    long  data con_temp;
static    long  data con_temp1;
static    uint  data con_yk;
//static    uint  data con_givexz;
//static    uint  data disp_vxz;
static    uint  data con_ui1;
static    uint  data con_give;
static    uint  data con_time;       //定时100ms输出一次
static    uint  xdata  PWM;
/***************************************/




//--------------------------------
sfr16     TMR2RL = 0xca;      /*定时器2重载值*/
sfr16     TMR2 = 0xcc;        /*定时器2计数值*/
sfr16     TMR3RL = 0x92;      /*定时器3重载值*/
sfr16     TMR3 = 0x94;        /*定时器3计数值*/
sfr16     ADC0 = 0xbd;        /*ADC0数据*/
//---------------------------------


bit  right_acb = 0;         //right vaule
bit  stop_mb=0;              /*切断发动机点火标志*/
bit  stop_mbs=0;             /*切断完发动机标志0:没有1：有*/
bit  a0_b=0;                            /*0正   1负*/
bit  a1_b=0;
bit  a2_b=0;

sbit alm_in0=alm_in^0;       //1:工作正常开始计时
sbit alm_in1=alm_in^1;       //机油压力报警
sbit alm_in2=alm_in^2;       //电压高报警
sbit alm_in3=alm_in^3;       //电压低报警
sbit alm_in4=alm_in^4;       //频率高报警
sbit alm_in5=alm_in^5;       //频率低报警
sbit alm_in6=alm_in^6;       //电池电压报警
sbit alm_in7=alm_in^7;       //

sbit PWM_OUT = P0^7;          /*输出端口引脚*/
sbit oil_pre=P2^0;           /*油压报警*/
sbit close_oil=P1^5;
sbit reset_5463=P2^3;
sbit cs_5463=P2^4;
sbit sdi_5463=P2^5;
sbit sdo_5463=P2^6;
sbit sclk_5463=P2^7;
sbit stop_m=P1^6;



void SYSCLK_Init (void);
void delay1ms(int count);
void PORT_Init (void);
void PCA_Init(void);
void UART0_Init(void);
void ADC0_Init(void);
void Int0_Init(void);
void Timer0_Init(void);
void Timer2_Init(void);
void Timer3_Init(int counts);
void pid_INI(void);


void UART0_ISR(void);
void ADC0_ISR (void);
void Timer0_ISR(void);
void Timer2_ISR(void);
void Int0_ISR(void);
void PCA_ISR(void);


void measure_pulsef(void);
void measure(void);
void  pid_control(void);
void Hex2Bcd3(uint value);
void comm_pro(void);           //通讯数据处理
void alarm_symbol(void);
void alarm_battery(void);

/***********************/
void nop_1us(void);
void send_5463(uchar send_data);
void write_5463(uchar *pbuf,uchar command);
void read_5463(uchar *pbuf,uchar command);
void init_5463(void);
void drdy_pro(void);           //采样程序
/***********************/



void main(void)
{    
    pid_INI();
    con_yk=1105;
    while(1)
    { 
	  pid_control();
	  --con_yk;
	}
    


      PORT_Init ();
      SYSCLK_Init ();
	  PCA_Init();
      UART0_Init();
	  ADC0_Init();
	  Int0_Init();
	  Timer0_Init();
      Timer2_Init();
	  Timer3_Init(SYSCLK/SAMPLERATE0);
      /*****************/
	  alm_in = 0x01;
	  acresult[0] = 0x00;
	  acresult[1] = 0x00;
      restart:
	  right_acb = 0;
	  stop_mb=0;              /*切断发动机点火标志*/
      stop_mbs=0;             /*切断完发动机标志0:没有1：有*/
      a0_b=0;                            /*0正   1负*/
      a1_b=0;
      a2_b=0;

	  close_oil = 1;
	  stop_m = 1;

	  EA = 1;
	  pid_INI();
	  init_5463();

	  /****************/
	  while(!((frequencyp > 400)&&(acresult[0] >= VOL_MIN)))       //speed > 2400r/min
	       {drdy_pro();measure();alarm_battery();}
	  count_tspeed = 0;
	  while(!(count_tspeed>500))      //5s
	       {drdy_pro();measure();alarm_battery();}
	  /****************/

      while(1)
	  {
       drdy_pro();

       measure();

	   alarm_symbol();
	   alarm_battery();

	   while(stop_mb)              //关闭发动机后等待仪表复位
	         {
			  count_tspeed = 0;
	          while(!(count_tspeed>2000))      //5s
	           {
			    drdy_pro();
			    measure();
			    alarm_battery();
			   }
			   goto  restart;
			 }



       }


}

















void      SYSCLK_Init(void)
{
   PSCTL &= 0x00;
   P0 &= 0xf3;
   PCA0MD &= ~0x40;
   OSCXCN = 0x67;                     //启动外部震荡器22.1184MHZ
   delay1ms(5);
   while(!(OSCXCN & 0x80));

   CLKSEL = 0x01;
}
/*延时1ms乘以count*/
void      delay1ms(int count)
{
    int   j,k;
	while(count-- != 0)
	{
	   for(j=0;j<9;j++)
	      for(k=0;k<152;k++)
		  ;
	}
}


void PORT_Init (void)
{
   XBR0 = 0x01;             /* UART  TX0---P0.4   RX0----P0.5*/
   XBR1 = 0x41;             /* Enable crossbar and weak pull-ups*/
   P0SKIP = 0x4f;
   P1SKIP = 0xff;
   P2SKIP = 0xff;
   P0MDIN = 0xf3;
   P0MDOUT = 0x90;
   P1MDIN = 0xfe;           //p1.0 = ain0.0
   P1MDOUT = 0x00;          //p1.5 p1.6   out
   P2MDIN = 0xff;
   P2MDOUT = 0xfe;
   P3MDIN = 0x1f;
   P3MDOUT |= 0x0e;         /* enable LED as a push-pull output*/
   P3MDOUT &= 0xef;
}


void      PCA_Init(void)
{
          /****看门狗设置****/
		   PCA0MD    &= ~0x40;
           PCA0MD    = 0x08;         /*系统时钟*/
           PCA0CPL4  = 0x5e;
           PCA0MD    |= 0x40;
		   PCA0CPH4  = 0x00;         /*看门狗清零1ms*/
           /********************/

		  //PCA0MD = 0x08;                   /*08=系统时钟,02=系统时钟/4*/
		  /********************/
		  PCA0CPL0 = (0xff & PWM);
	      PCA0CPH0 = (0xff & (PWM >> 8));
	      PCA0CPM0 = 0x4d;                 /*CCM0为高速输出方式*/
          PCA0CN = 0x40;                   /*允许PCA计数器*/
		  EIE1 |= 0x10;                    /*允许PCA中断*/
}



void      UART0_Init(void)
{
     rs232tran[0] = 'B';            /*B.b.空格*/
	 rs232tran[1] = 'b';
	 rs232tran[19] = 0x0d;
	 SCON0 = 0x50;                   /*mode0,波特率可编程的8位UART*/
	 TMOD |= 0x20;                    /*T0=16为定时。T1=自动重载的8位定时器*/
     CKCON |= 0x06;                  /*T1=SYSCLK/48  T0=SYSCLK*/
	 CKCON &=~0x80;
     TH1 = -(SYSCLK/BAUDRATE/96);
	 TL1 = -(SYSCLK/BAUDRATE/96);
     TR1 = 1;
	 IE |= 0x10;                     /*start uart0*/
}


void ADC0_Init(void)
{
   ADC0CN = 0xc5;
   REF0CN = 0x02;           /*VREF输入引脚作为电压基准*/
   ADC0CF = (SYSCLK/2500000)<<3;
   ADC0CF |= 0x04;          /*数据左对齐*/
   AMX0N = 0x1f;            /*工作在单端方式*/
   AMX0P = 0x00;            /*以AIN0为ADC多路输出*/
   EIE1 |= 0x08;            /*允许ADC中断*/
}


void Int0_Init(void)
{
  IE |= 0x01;                        /*启动INT0,边沿*/
  TCON |=0x01;
  IT01CF = 0xf1;           /*INT0---P0.1 */
  cycle = 0x02;
  PX0 = 1;
}


void      Timer0_Init(void)
{
  TMOD |=0x01;                       /*T0=16为定时*/
  TR0 = 0;
  TH0 =0x00;
  TL0 =0x00;
  IE |= 0x02;                        /*启动T0*/
}

void      Timer2_Init(void)
{
  TMR2CN = 0x04;
  TMR2 = -(SYSCLK/1200);
  TMR2RL = -(SYSCLK/1200);
  IE |= 0x20;                        /*启动T2=SYSCLK/12  10ms一次中断*/
}

void      Timer3_Init(int counts)
{
   TMR3CN = 0x00;
   CKCON |= 0xc0;           /*以SYSCLK作为时基*/
   TMR3RL = -counts;
   TMR3 = 0xffff;
   EIE1 &= ~0x80;
   TMR3CN |= 0x04;
}


void    pid_INI(void)
{
        con_a0 = 40;     //40
        con_a1 = 38;     //38
        con_a2 = 00;     //20
        con_ei = 0;
        con_ei1 = 0;
        con_ei2 = 0;
        con_yk = 0;
        con_ui1 = PWM_MIN;
        con_give = 2205;
        con_temp = 0;
		con_temp1 = 0;
		con_time = 0;
		PWM = 0xffff-PWM_MIN;

}


void UART0_ISR(void) interrupt 4     /*串口通信*/
{
 if (TI0)
 {
     TI0 = 0;
	 ++txcount;
	 if(txcount < 20)
	 {
	  SBUF0 = rs232tran[txcount];
	 }
	 else
	 {
	  txcount = 0x00;
	 }
 }
 else{RI0 = 0;}

}



void ADC0_ISR (void) interrupt 10
{
     static  uchar  channel = 0;
	 PCA0CPH4  = 0x00;         /*看门狗清零1ms*/
	 AD0INT = 0;
	 result[channel] = ADC0;
	 AMX0P = channel;

}


void      Timer0_ISR(void)  interrupt 1
{
    t0high += 1;
}



void      Timer2_ISR(void)  interrupt 5
{
    TF2H = 0;
	//-------------------
	count5463 += 1;
	count_tspeed += 1;
	//-------------------
	if(!stop_mbs)
	{
      if(stop_mb)               /*切断点火十五秒*/
	  {
	   PWM = PWM_MIN;
	   stop_count++;
	   stop_m = 0;
	   if(stop_count == 1500)
	   {stop_count = 0x0000;stop_m = 1;stop_mbs = 1;}
      }
	}
	//-------------------
	con_time += 1;
    //-------------------
    ++vol_count;
	++fre_count;
	++bat_count;
	++pre_count;
	//--------------------
	++int_time;
	if(int_time >= 30)   //if 300ms no int. display result and control result is zero
	  {
	   int_time = 0x00;
	   frequencyp = 0x00;
	   right_acb = 0;
	   TR0 = 0;
       cycle = 0x02;
	   t0high = 0x0000;
	   TL0 = 0x00;
	   TH0 = 0x00;
	  }
	//--------------------
	time_count += 1;
	if(time_count >= 50)
	    {
	     time_count = 0x00;
	     comm_pro();        /*500ms/times to send data*/
	     txcount = 0x00;
	     SBUF0 = rs232tran[0];
     	}
	//--------------------
	TMR2 = -(SYSCLK/1200);
    TMR2RL = -(SYSCLK/1200);
}


void  Int0_ISR(void) interrupt 0
{
      int_time = 0x00;
	  TR0 = 1;

	  --cycle;
		if(cycle == 0)
		  {
		    cycle = 2;
			TR0 = 0;
			right_acb = 1;
			/**************************/
			fr_lo = TH0*0x100+TL0;
			fr_hi = t0high;
			/**************************/
		   }
	  IE0 = 0;         /*避免重复中断*/


}


void PCA_ISR (void) interrupt 11
{

     if (CCF0) {
	    CCF0 = 0;                     //清除比较标志
		if (PWM_OUT){                //处理上升沿

		   PCA0CPL0 = (0xff & PWM);

	       PCA0CPH0 = (0xff & (PWM >> 8));
            		}
        else{                         //处理下降沿

		    PCA0CPL0 = 0;

	        PCA0CPH0 = 0;
		    }

	           }
     else if (CCF1) {
	         CCF1 = 0;
		            }
     else if (CCF2) {
	         CCF2 = 0;
	                }
     else if (CCF3) {
	         CCF3 = 0;
	                }
     else if (CCF4) {
	         CCF4 = 0;
	                }
     else if (CF) {
	         CF = 0;
	           }
}



void measure_pulsef(void)          //f<75hz
{
 long  xdata high_low;
 high_low = fr_hi*0x10000+fr_lo;
 if(high_low > 294912)
 {
  frequency = SYSCLK*10/high_low;  /*频率有一位小数点*/
 }
}



void measure(void)
{
     long   ac_temp0;
	 static uchar    n;


		 /**********************************/
		 voltage = result[0];
		 voltage = voltage*VREF0;
		 voltage = voltage>>16;
		 /**********************************/
		 csamples0[num_samples0] = voltage;
		 num_samples0++;
		 if(num_samples0 == 20)
					  {
					    num_samples0 = 0;
						ac_temp0 = 0;
				    	for(n=0;n<20;n++)
						{
						   ac_temp0 += csamples0[n];
						}

						 disp_resultp = ac_temp0/20;

					  }
		 /**********************************/
/*******************************************/
	  if(right_acb)
	    {
         EX0 = 0;

		 /***********************/
		TH0 = 0;
		TL0 = 0;
	    t0high = 0;
		measure_pulsef();

		 /**********************************/
		 csamples1[num_samples1] = frequency;
		 num_samples1++;
		 if(num_samples1 == 20)
					  {
					    num_samples1 = 0;
						ac_temp0 = 0;
				    	for(n=0;n<20;n++)
						{
						   ac_temp0 += csamples1[n];
						}

						 frequencyp = ac_temp0/20;

					  }
		 /**********************************/
		 right_acb = 0;
		 EX0 = 1;

		}
/*******************************************/
}




/**********cs5463**********/
/**********cs5463**********/
void  send_5463(uchar send_data)       //发一个命令字节cs5463
{
      uchar  i;
	  sclk_5463 = 1;
	  for(i = 0;i < 8;i++)
	  {
	     if(send_data & 0x80)
		    sdi_5463 = 1;
         else
		    sdi_5463 = 0;

         sclk_5463 = 0;
		 send_data <<= 1;
         nop_1us();
		 sclk_5463 = 1;
	  }
}

void   write_5463(uchar *pbuf,uchar command)    //*pbuf = h_byte  *(pbuf+1) = m_byte  *(pbuf+2) = l_byte
{
     uchar j,k;
     send_5463(command);

	 for(j = 0;j < 3;j++)
     {
	   sclk_5463 = 1;
	   for(k = 0;k < 8;k++)
	   {
	       if(*pbuf&0x80)
		   sdi_5463 = 1;
         else
		    sdi_5463 = 0;
		 sclk_5463 = 0;
		 *pbuf <<= 1;
         nop_1us();
		 sclk_5463 = 1;
	   }
      pbuf += 1;
     }
}

void   read_5463(uchar *pbuf,uchar command)    //*pbuf = h_byte  *(pbuf+1) = m_byte  *(pbuf+2) = l_byte
{
      uchar j,k,const_fe;
      send_5463(command);

      for(j = 0;j < 3;j++)
     {
	   *pbuf = 0x00;
	   const_fe = 0xfe;
	   for(k = 0;k < 8;k++)
	   {
	     sclk_5463 = 0;

		 *pbuf <<= 1;
		 if(sdo_5463)
		   *pbuf |= 0x01;
	     if(const_fe&0x80)
		   sdi_5463 = 1;
         else
		   sdi_5463 = 0;
		 const_fe <<= 1;

         nop_1us();

		 sclk_5463 = 1;
	   }
      pbuf += 1;
     }

}

void   init_5463(void)
{
    uchar *temp;
    sdi_5463 = 0;
	sclk_5463 = 0;
    nop_1us();
	cs_5463 = 0;
	reset_5463 = 0;
	delay1ms(6);
	reset_5463 = 1;
	nop_1us();

	send_5463(0xff);
	send_5463(0xff);
	send_5463(0xff);
	send_5463(0xff);
	send_5463(0xff);
	send_5463(0xff);
	nop_1us();
    send_5463(0xfe);

	cs5463rw[0] = 0x00;             //0X001001  K=1,下降沿,电流放大十倍
	cs5463rw[1] = 0x10;
	cs5463rw[2] = 0x01;
	temp = &cs5463rw[0];
	write_5463(temp,0x40);
    delay1ms(1);

	cs5463rw[0] = 0x00;             //0X000FA0  N=160  t=40ms
	cs5463rw[1] = 0x00;
	cs5463rw[2] = 0x50;
	temp = &cs5463rw[0];
	write_5463(temp,0x4a);
    delay1ms(1);

	cs5463rw[0] = 0x00;             //0X000061  在线频率测量
	cs5463rw[1] = 0x00;
	cs5463rw[2] = 0x69;
	temp = &cs5463rw[0];
	write_5463(temp,0x64);
    delay1ms(1);

	cs5463rw[0] = 0x00;             //0X800200  写中断
	cs5463rw[1] = 0x00;
	cs5463rw[2] = 0x00;
	temp = &cs5463rw[0];
	write_5463(temp,0x74);
    delay1ms(1);

	cs5463rw[0] = 0x00;             //控制
	cs5463rw[1] = 0x00;
	cs5463rw[2] = 0x00;
	temp = &cs5463rw[0];
	write_5463(temp,0x78);
    delay1ms(1);

	cs5463rw[0] = 0xff;             //清除状态位
	cs5463rw[1] = 0xff;
	cs5463rw[2] = 0xff;
	temp = &cs5463rw[0];
	write_5463(temp,0x5e);
    delay1ms(1);

    send_5463(0xe8);               //连续测量
}

void drdy_pro(void)
{
     uchar *temp;
	 uchar ac_n;
	 temp = &cs5463rw[0];
	 read_5463(temp,0x1e);          //读状态
	 cs5463tm[0] = cs5463rw[0];
	 cs5463tm[1] = cs5463rw[1];
	 cs5463tm[2] = cs5463rw[2];

	 if(cs5463rw[0]&0x80)
	   {
	    temp = &cs5463rw[0];
	    read_5463(temp,0x18);         //read voltage
	    if(cs5463rw[0]||cs5463rw[1]||cs5463rw[2])
	       {
	        count5463 = 0;
            aresult[0] = cs5463rw[0]*0x10000+cs5463rw[1]*0x100+cs5463rw[2];
            temp = &cs5463rw[0];
            read_5463(temp,0x16);      //read current
            aresult[1] = cs5463rw[0]*0x10000+cs5463rw[1]*0x100+cs5463rw[2];
		   /********************************/
	        con_yk = aresult[0]/0x0a7c;      //control use
	        ac_vresult[vi_count] = con_yk;
	        if((con_time >= 2)&&(close_oil)&&(!stop_mb))
	           {con_time = 0;pid_control();}
		   /********************************/

		    vi_count += 1;
		    if(vi_count == 40)
		      {
		        vi_count = 0;          
                aresult[0] = 0;
		        for(ac_n=0;ac_n<40;ac_n++)
		      	 {
		          aresult[0] += ac_vresult[ac_n];
		         }
		       	acresult[0] = aresult[0]/40; 
              }
		   }
	  }

	  {
	    cs5463rw[0] = cs5463tm[0];        //清除状态位
	    cs5463rw[1] = cs5463tm[1];
	    cs5463rw[2] = cs5463tm[2];
        temp = &cs5463rw[0];
	    write_5463(temp,0x5e);
	  }
	if(count5463 > 150)                   //大于1.5s ,reset 5463
	   {
	    init_5463();
		count5463 = 0;
	   }
}
//----
void nop_1us(void)                       //1us
{
     uchar  i;
	 for(i = 0;i < 3;i++);
}
/**********cs5463**********/
/**********cs5463**********/

void      Hex2Bcd3(uint value)
{
     uchar  number1,number2,number3,number4;
	 number4 = value/1000;
	 number3 = (value-=number4*1000)/100;
     number2 = (value-=number3*100)/10;
     number1 = (value-=number2*10);
	 keydata4 = number4|0x30;
	 keydata3 = number3|0x30;
	 keydata2 = number2|0x30;
	 keydata1 = number1|0x30;
}


void comm_pro(void)
{
    if(acresult[0] >0350)                //发电机输出电压大于5伏显示，否则显示零电压
	{
     Hex2Bcd3(acresult[0]);           /*机组电压*/
	 rs232tran[2] = keydata4;
     rs232tran[3] = keydata3;
	 rs232tran[4] = keydata2;
	 rs232tran[5] = keydata1;
	}
	else
	{
	 rs232tran[2] = 0x30;
     rs232tran[3] = 0x30;
	 rs232tran[4] = 0x30;
	 rs232tran[5] = 0x30;
	}

	Hex2Bcd3(frequencyp);            /*输出频率*/
	 rs232tran[6] = keydata3;
     rs232tran[7] = keydata2;
	 rs232tran[8] = keydata1;

	Hex2Bcd3(disp_resultp);            /*输出电池电压*/
	 rs232tran[9] = keydata4;
     rs232tran[10] = keydata3;
	 rs232tran[11] = keydata2;

	 if(alm_in2)
	   {rs232tran[12] = '1';}
     else
	   {rs232tran[12] = '0';}

	 if(alm_in3)
	   {rs232tran[13] = '1';}
     else
	   {rs232tran[13] = '0';}

	 if(alm_in4)
	   {rs232tran[14] = '1';}
     else
	   {rs232tran[14] = '0';}

	 if(alm_in5)
	   {rs232tran[15] = '1';}
     else
	   {rs232tran[15] = '0';}

     if(alm_in6)
	   {rs232tran[16] = '1';}
     else
	   {rs232tran[16] = '0';}

     if(alm_in1)
	   {rs232tran[17] = '1';}
     else
	   {rs232tran[17] = '0';}

     if(alm_in0)
	   {rs232tran[18] = '1';}
     else
	   {rs232tran[18] = '0';}
}

void alarm_symbol(void)      /*该报警应在机组正常工作时处理*/
{
     if((acresult[0] <= VOL_MAX)&&(acresult[0] >= VOL_MIN))
	   {vol_count = 0;alm_in2 = 0;alm_in3 = 0;}

	 if((vol_count >= 300)&&(acresult[0] > VOL_MAX))
	   {alm_in2 = 1;vol_count = 300;}

     if((vol_count >= 300)&&(acresult[0] < VOL_MIN))
	   {alm_in3 = 1;vol_count = 300;}


	 if((frequencyp <= FRE_MAX)&&(frequencyp >= FRE_MIN))
	   {fre_count = 0;alm_in4 = 0;alm_in5 = 0;}

	 if((fre_count >= 300)&&(frequencyp > FRE_MAX))
	   {alm_in4 = 1;fre_count = 300;}

     if((fre_count >= 300)&&(frequencyp < FRE_MIN))
	   {alm_in5 = 1;fre_count = 300;}


     if(!oil_pre)
	   {pre_count = 0;}
     if(!alm_in5&&(pre_count >= 300))
	   {alm_in1 = 1;pre_count = 300;}
     else
	   {alm_in1 = 0;}

     if(alm_in2||alm_in3||alm_in4||alm_in5||alm_in1)
	   {PWM = PWM_MIN;close_oil = 0;stop_mb = 1;alm_in0 = 1;}
     else
	   {close_oil = 1;stop_mb = 0;alm_in0 = 0;}


}

void alarm_battery(void)
{
     if(disp_resultp >= BAT_MIN)
	   {bat_count = 0;alm_in6 = 0;}

     if((bat_count >= 300)&&(disp_resultp < BAT_MIN))
	   {alm_in6 = 1;bat_count = 300;}
}
/**************************/

void  pid_control(void)
{
    
    con_temp = con_ui1;
	con_temp1 =0;
    if(con_yk <= con_give)
	{
       con_ei = con_give-con_yk;
	   if(con_ei > 1105)
	    {con_ei = 1105;}
	   /*************************/
       if(con_ei > 155)
	    {
	     con_a0 = 100;     //40
         con_a1 = 00;     //38
         con_a2 = 00;     //20
	    }
	   else
	    {
	     con_a0 = 40;     //40
         con_a1 = 38;     //38
         con_a2 = 00;     //20
	    }
	   /*************************/
	     a0_b=0;
	     con_temp += con_a0*con_ei;
	     if(!a1_b)
	      {con_temp1 += con_a1*con_ei1;}
         else
	      {con_temp +=con_a1*con_ei1;}
         if(!a2_b)
	      {con_temp +=con_a2*con_ei2;}
         else
	      {con_temp1 += con_a2*con_ei2;}
         if(con_temp >= con_temp1)
	      {
	       con_temp = con_temp-con_temp1;
	      }
         else
	      {
		  //con_temp = con_temp1-con_temp;
	       con_temp = PWM_MIN;
	      }
       }
      else
	    {
	    con_ei = con_yk-con_give;
	    if(con_ei > 1105)
	      {con_ei = 1105;}
	   /*************************/
        if(con_ei > 125)
	     {
	      con_a0 = 150;     //40
          con_a1 = 00;     //38
          con_a2 = 00;     //20
	     }
	    else
	     {
	       con_a0 = 40;     //40
           con_a1 = 38;     //38
           con_a2 = 00;     //20
	     }
	   /*************************/
	    a0_b=1;
	    con_temp1 = con_a0*con_ei;
	    if(!a1_b)
	     {con_temp1 += con_a1*con_ei1;}
        else
	     {con_temp += con_a1*con_ei1;}
        if(!a2_b)
	     {con_temp +=con_a2*con_ei2;}
        else
	     {con_temp1 += con_a2*con_ei2;}
        if(con_temp >= con_temp1)
	     {
	      con_temp = con_temp-con_temp1;
	     }
        else
	     {
          //con_temp = con_temp1-con_temp;
	      con_temp = PWM_MIN;
	     }
	   }
	if(con_temp<PWM_MIN)
	  {con_temp = PWM_MIN;}
	else if(con_temp>PWM_MAX)
	  {con_temp = PWM_MAX;}
	else{con_temp = con_temp;}
	con_ui1 = con_temp;
        con_ei2 = con_ei1;      /*参数传递及电机输出*/
	con_ei1 = con_ei;
	a2_b=a1_b;
	a1_b=a0_b;
	PWM = con_temp;
}