2008-09-13
这个附件也就是这里的程序,也可以把这几个帖子看完,这个是去年做的一个项目了，希望能对大家有点帮助
/***************************************/
//2008/05/25 cs5463 collect .
// alarm 电池电压
/***************************************/
#include
#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
/***********************/
评论3
楼主 2008/9/13 10:25:09
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;
}
}
}
楼主 2008/9/13 10:29:33
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;
}
/*******************************************/
}
楼主 2008/9/13 10:33:16
/**********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;
}
