控制工程师论坛

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;
}