minid0712.c

平缝机的单片机伺服控制系统源代码。本程序为用单片机控制永磁同步电机的低成本方案

/*****************************************************************
 *  文件名：      main.c
 *  版本号：      
 *  创作日期：    2005.7.12
 *  作者：        fengzm
 *  功能说明：    主函数
 *  其它说明：    使用AVR单片机Atmega48， 晶振：8Mhz
                  
 *****************************************************************/
 

/*****************************************************************

 *   修改日期：   
 *   修改人：     
 *   修改原因：   

 
*******************************************************************/


#include "minid.h"


void port_init(void)
{
   PORTB = 0x00;	
   DDRB  = 0x00;	//0000 0000
   PORTC = 0x00; 
   DDRC  = 0x0C;    //0000 1100
   PORTD = 0x00;
   DDRD  = 0x61;	//0110 0001
}

//Watchdog initialize
//prescale: 2K,16ms
void watchdog_init(void)
{
    WDR(); //this prevents a timout on enabling
    WDTCSR = 0x08; //WATCHDOG ENABLED - dont forget to issue WDRs
}

//TIMER0 initialize - prescale:1024
// WGM: Normal
// desired value: 10mSec
// actual value:  9.984mSec (0.2%)
void timer0_init(void)
{
   TCCR0B = 0x00; //stop
   TCNT0  = 0xB2; //set count
   TCCR0A = 0x00; 
   TCCR0B = 0x05; //start timer
}

#pragma interrupt_handler timer0_ovf_isr:17
void timer0_ovf_isr(void)
{
   TCNT0 = 0xB2;                         //TIMER0 has overflowed

//****************当前转速值*****************
	 
	g_Temp = g_DeltaEnc * 125;
	g_Temp /=1000;
	g_Temp *= 72;
	g_Temp = 60000000 / g_Temp;
//****************当前转速值******************

	g_AdcNum = 7;							//脚踏板通道
	sPID.SetValue =  AdcPedal(g_ValueAdc) & 0xfff;	//PID输入预设值
	
	g_IicData = PIDCalc(&sPID, g_Temp);				//PID运算
	g_flag10ms = 0xff;
	
//**********************************
timer1_ovf_isr_();
//***********************************
	
}




//call this routine to initialize all peripherals
void init_devices(void)
{
                    //stop errant interrupts until set up
    CLI();             //disable all interrupts
    port_init();
    //watchdog_init();
    timer0_init();
    timer1_init();
    
    twi_init();
    adc_init();

 	MCUCR = 0x00;
 	EICRA = 0x00; //extended ext ints
 	EIMSK = 0x00;
 
 	TIMSK0 = 0x01; //timer 0 interrupt sources
 	TIMSK1 = 0x21; //timer 1 interrupt sources
 	TIMSK2 = 0x00; //timer 2 interrupt sources
 
 	PCMSK0 = 0x00; //pin change mask 0 
 	PCMSK1 = 0x00; //pin change mask 1 
 	PCMSK2 = 0x00; //pin change mask 2
 	PCICR  = 0x00; //pin change enable 
 	PRR    = 0x00;
 
 	SEI();         //re-enable interrupts
 
}


 
void main(void)
{

	init_devices();
	
	PIDInit (&sPID);
	START_ADC();
	SumDu = 0;						//增量式PID清零
	
	while (1)
	{
		//if (g_flag10ms == 0xff)
		//{
		//	g_flag10ms = 0;
			
		//	STARTIIC();	   	   			 //开始发送
		//}
	 det_err();
		electromagne_ctrl(1,0);
	}//End while
	
  
}

// 使用定时器的溢出中断
//  10 ms 中断 一次
// 需要提供低于220V 的信号g_singleLowVol
// 电机停机信号g_MotorStop
// 高于400V 的信号g_singleOverVol
// 电机正在运行标志g_MotorRun
// 电机速度小于10 RPM 标志g_LowSpeed
void timer1_ovf_isr_(void)
{
	if (!g_MotorRun)
	{
		if (g_SingleLowVol)
		{
			g_Lower220VCnt ++;
		}
		else
		{
			g_Over220VCnt ++;
		}
		if (g_Lower220VCnt + g_Over220VCnt > 300)
		{
			if (g_Lower220VCnt > g_Over220VCnt)
			{
				g_LowVol = 1;
			}
			else
			{
				g_LowVol = 0;
			}
			g_Lower220VCnt = 0;
			g_Over220VCnt = 0;
		}
		g_LowSpeedCnt = 0;
	}
	else
	{
		g_Lower220VCnt = 0;
		g_Over220VCnt = 0;	
		if (g_LowSpeed)
		{
			g_LowSpeedCnt ++;
		}
		else
		{
			g_LowSpeedCnt = 0;
		}
		if (g_LowSpeedCnt > 200)
		{
			g_MotorBlock = 1;
			g_LowSpeedCnt = 0;
		}	
	}


	if (g_SingleOverVol)
	{
		g_Lower400VCnt ++;
	}
	else
	{
		g_Over400VCnt ++;
	}
	if (g_Lower400VCnt + g_Over400VCnt > 300)
	{
		if (g_Lower400VCnt >= g_Over400VCnt)
		{
			g_OverVol = 1;
		}
		else
		{
			g_OverVol = 0;
		}
		g_Lower400VCnt = 0;
		g_Over400VCnt = 0;
	}


	if (g_StartLedFlick)
	{
		if (g_LedTimesCnt)
		{
			if (g_LedTimesT1 < LEDFLICKTIME1)
			{
				if (g_LedType)
				{
					RED_ON();
				}
				else
				{
					GREEN_ON();
				}
				g_LedTimesT1 ++;
			}
			else
			{
				if (g_LedType)
				{
					RED_OFF();
				}
				else
				{
					GREEN_OFF();
				}
				g_LedTimesT2 ++;
				if (g_LedTimesT2 == LEDFLICKTIME2)
				{
					g_LedTimesT2 = 0;
					g_LedTimesT1 = 0;
					g_LedTimesCnt--;
				}
			}
		}
		if (g_LedTimesCnt == 0)
		{
			g_LedTimesT3 ++;
			if (g_LedTimesT3 == LEDFLICKTIME3)
			{
				g_LedTimesT3 = 0;
				g_LedTimesCnt = g_LedTimes;
			}
		}
	}
}