main._c

一款挂面机的自动化控制源程序

//ICC-AVR application builder : 2004-8-22 19:49:01
// Target : M16
// Crystal: 16.000Mhz
//本程序所用的长度单位为毫米，时间单位为8个时钟周期（千万分之五秒）
#include <iom16v.h>
#include <macros.h>
#include <h_iic.c>
#include <eeprom.h>
///////////////  键盘定义
#define START_K 1    
//启动
#define ENTER 1
//确定
#define STOP 5    
//停止  
#define RETURN 5
//返回
#define K1 2      
//1
#define INC_SPEED 2
//增速
#define K2 3      
//2
#define DEC_SPEED 3
//减速
#define K3 4
//4
#define SET 4
//设定
#define K4 6
//4
#define SPEED 6
//速度
#define K5 7
//5
#define COUNT 7
//计数
#define K6 8
//8
#define SUM 8
//累计
#define K0 9
//9
#define CLEAR 9
//清零
#define K7 10
//7
#define MIAN_LENGTH 10
//面长
#define K8 11
//8
#define CUT_NUM 11
//刀数
#define K9 12
//9
#define JIGAN 12
//积杆
#define M_ZHUANBI 4000  
//转刀一周步进电机的步数
 
///////////////  全局变量定义
unsigned char M_state=0;  //步进电机的运行状态
/*
0:停转
1:启动
2:减速至停转
3:加速至随动
4:减速至随动
5:随动
6:加速至碎刀
7:碎刀
8:转动至平行
*/
unsigned int step_num=0;  //步进电机相对平行点的占步数
//unsigned char M_maichong; //步进电机的脉冲
unsigned int tmp_t1=64536; //计时器1的当前数值
unsigned char qidong_num=0;      //启动过程中步进电机所走的占步数
unsigned char dec_speed_bz=0;    //启动减速标志
unsigned int dec_speed_num=0;    //减速所走的步数
float DW_juli;    //单位距离
float P_speed;    //皮带速度
float juli;       //切刀到杆切点的距离
unsigned char time0_chi;  //计时器0的次数（256的倍数）
unsigned char time0_yu;   //计时器0的余数（整除256后所得的余数）
unsigned char time0_fen;  //如果余数太小，则从次数中分出一次来，和余数加在一起分担剩余的时间
unsigned char pidai_yunxing=0;   //皮带运行：1表示正常运行，0表示停止运行
float set_speed;   //设定的转速******
unsigned char dj_jibie=0;    //电磁调速电动机速度增减的级别
unsigned char dj_fangxi=0;   //电磁调速电动机调速的方向
unsigned char on_scr=0;      //可控硅导通标志
unsigned int pre_jsq=2000;      //上一次可控硅触发计时
unsigned char key=0;    //按键的键值
unsigned char on_key=0; //有键按下的标志
unsigned char key_num=0;  //计数，每计50查一次按键
unsigned char next_gan=0; //过下一杆标志
unsigned char guogan=0;   //开始正式过杆的标志
float dw_speed=0.00000025;      //一个时间单位所走的毫米数*******
float ganwei;   //杆位：挂面杆相对于切点的位置
float next_ganwei;   //下一杆的杆位
float juli_jcd;      //检测点到切点的距离*******
float ganju;        //两根挂面杆的距离*******
float longth_guamian;   //切好的挂面的长度*******
float longth_zongmian;  //一杆上挂面的总长度*******
unsigned char jidao;    //一杆面共切几刀
unsigned char first_gan=1; //第一杆标志
unsigned char qidong=0;   //步进电机是否起动
unsigned char jileigan=0;  //累积的杆数
unsigned char max_ganshu=10;  //积累杆数的上限
unsigned char caoshu=0;  //高速标志
float current_speed;     //当前速度
float caogan_speed;      //高速时的速度
unsigned char menu_jb=0;   //菜单级别
unsigned char menu_gn=0;      //菜单功能码  
char *string1;
char string2[]="    PASS"; 
char tmp_string[9];          //输入参数时，显示的数字
unsigned char cs_num=0;        //当前参数的位数
 char *str_dis;

///////////////
void port_init(void)
{
 PORTA = 0x00;
 DDRA  = 0x00;
 PORTB = 0xF0;
 DDRB  = 0xF0;
 PORTC = 0x00; //m103 output only
 DDRC  = 0xC0;
 PORTD = 0x00;
 DDRD  = 0x00;
}

unsigned int read_adc(void)  //读取模数转换的值，即测速发电机的电压值
{
unsigned char adc_H,adc_L;
unsigned int adc_jg;
adc_L=ADCL;
adc_H=ADCH;
adc_jg=adc_H*256+adc_L;
return adc_jg;
}
//TIMER0 initialize - prescale:8
// WGM: Normal
// desired value: 1Hz
// actual value: Out of range
void timer0_init(void)
{
 TCCR0 = 0x00; //stop
 TCNT0 = 0x00 /*INVALID SETTING*/; //set count
 OCR0  = 0x00 /*INVALID SETTING*/;  //set compare
 TCCR0 = 0x02; //start timer
}

#pragma interrupt_handler timer0_ovf_isr:10
void timer0_ovf_isr(void)  
{
unsigned char i; 
if (on_scr==1)   //如果可控硅触发标志为1，则触发可控硅
   {
   TCCR0=0;
   PORTC=PORTC | 0b01000000;
   for (i=0;i<20;i++)  ;
   PORTC=PORTC & 0b10111111;
   on_scr=0;
   }
if (time0_chi>0) //如果计数器0次数大于0，则重新开始（0－255）的计时
   {
   TCNT0=0;
   TCCR0=2;
   time0_chi--;
   }
else
   {
   if (time0_fen>0)
      {
	  TCNT0=time0_fen;
	  TCCR0=2;
	  time0_fen=0;
	  }
   else
      {
	  TCNT0=time0_yu;
	  TCCR0=2;
	  on_scr=1;
	  }
   }

}

//TIMER1 initialize - prescale:8
// WGM: 0) Normal, TOP=0xFFFF
// desired value: 1Hz
// actual value: Out of range
void timer1_init(void)
{
 TCCR1B = 0x00; //stop
 TCNT1H = 0x00 /*INVALID SETTING*/; //setup
 TCNT1L = 0x00 /*INVALID SETTING*/;
 OCR1AH = 0x00 /*INVALID SETTING*/;
 OCR1AL = 0x00 /*INVALID SETTING*/;
 OCR1BH = 0x00 /*INVALID SETTING*/;
 OCR1BL = 0x00 /*INVALID SETTING*/;
 //OCR1CH = $OCR1CH$;
 //OCR1CL = $OCR1CL$;
 ICR1H  = 0x00 /*INVALID SETTING*/;
 ICR1L  = 0x00 /*INVALID SETTING*/;
 TCCR1A = 0x00;
 TCCR1B = 0x02; //start Timer
}

#pragma interrupt_handler timer1_ovf_isr:9
void timer1_ovf_isr(void)  //步进电机控制
{
 unsigned char i;  //循环变量
 unsigned int time1_jsq;   //time1的时间值
 unsigned int avg_speed;   //平均速度
 if (M_state==0)   //停止状态
    {
	return;
	}
 //TIMER1 has overflowed
TCNT1 = tmp_t1;   //计数器赋初值
PORTC |=0b10000000;      //给出步进电机驱动脉冲
for (i=0;i<5;i++);
PORTC &=0b01111111; 
step_num++;     //计步加一
time1_jsq=65535-tmp_t1+1;;
 switch (M_state)
    {
    case 1:      //启动状态
	   {
	   qidong_num++;
       tmp_t1=64536;
	   if (qidong_num>160)
	      {
		  M_state=3;    //结束启动状态，转入加速状态
		  }
	   } break;
	case 2:       //减速至停转
	   {
	   if (time1_jsq<1000) time1_jsq++;
	   tmp_t1=65535-time1_jsq+1;
	   if (dec_speed_bz==1)
	      {
		  dec_speed_bz=0;
		  if (step_num>(M_ZHUANBI*3/4)) dec_speed_num=2*M_ZHUANBI-step_num; else dec_speed_num=M_ZHUANBI-step_num;
		  }
	   dec_speed_num--;
	   if (dec_speed_num==0) M_state=0;
	   } break;
	case 3:     //加速至随动
	case 4:     //减速至随动
	   {
	   avg_speed=(unsigned int)((juli/(1000-step_num))/P_speed+0.5);
	   
	   if (avg_speed>time1_jsq) time1_jsq++;
	   if (avg_speed<time1_jsq) time1_jsq--;
	   tmp_t1=65535-time1_jsq+1;
	   if (step_num==999) M_state=5;
	   } break;    
	case 5:    //随动
	   {
	   time1_jsq=(unsigned int)(DW_juli/P_speed);
	   tmp_t1=65535-time1_jsq+1;
	   } break;
	case 6:    //加速至碎刀
	   {
	   if (time1_jsq>111) time1_jsq--;
	   tmp_t1=65535-time1_jsq+1;
	   if (time1_jsq==111) M_state=7;
	   } break;
	case 7:    //碎刀
	   {
	   time1_jsq=111;
	   tmp_t1=65425;
	   } break;
	case 8:    //转动至平行
	   {
	   if (step_num==0) M_state=0;
	   tmp_t1=64536;
	   time1_jsq=1000;
	   } break;
	}
juli=juli-P_speed*time1_jsq;
}

//TIMER2 initialize - prescale:128
// WGM: Normal
// desired value: 500Hz
// actual value: 500.000Hz (0.0%)
void timer2_init(void)
{
 TCCR2 = 0x00; //stop
 ASSR  = 0x00; //set async mode
 TCNT2 = 0x06; //setup
 OCR2  = 0xFA;
 TCCR2 = 0x05; //start
}

#pragma interrupt_handler timer2_ovf_isr:5
void timer2_ovf_isr(void)
{
unsigned int adc0;
 TCNT2 = 0x06; //reload counter value
 adc0=read_adc();  //取测速发电机的电压值
    P_speed=adc0*dw_speed;  //求皮带速度
	
 if (guogan==1)
    {
	ganwei=ganwei+P_speed*4000;
	if (next_gan==1)
	   {
	   next_ganwei=next_ganwei*4000;
	   }
	if (first_gan==1) //如果是第一次进行切刀，则启动步进电机，并调速至与皮带一致
	   {
	   if (next_ganwei>-40)
	      {
		  M_state=1;
		  juli=60;
		  first_gan=0;
		  ganwei=next_ganwei;
		  next_gan=0;
		  next_ganwei=-500;
		  }
	   }
	else
	   {
	   if (!((M_state==6) || (M_state==7)) && (ganwei>(jidao*longth_guamian+20)) && (ganwei<(ganju-160)))
	      {
		  M_state=6;
		  }
	   if (!((M_state==0) || (M_state==2)) && (ganwei>(ganju-160)) && (next_ganwei<-40))
	      {
		  M_state=2;
		  }
	   if ((next_ganwei>-40) && (M_state==0))
	      {
		  M_state=1;
		  juli=60;
		  ganwei=next_ganwei;
		  next_gan=0;
		  next_ganwei=-500;
		  jileigan--;
		  }
	   if (ganwei>(ganju*1.10))   //缺杆保护
	      {
		  M_state=0;
		  first_gan=1;
		  }
	   }
	}
 key_num++;    //50次中断后查一次按键，每秒查十次
 if (key_num==50)
    {
	key_num=0;
	//key=ZLG7290_GetKey();  //读取键值
	//if (key>0) on_key=1;   //设置按键标志
	on_key=1;
	}
}

//TWI initialize
// bit rate:12
void twi_init(void)
{
 //TWCR= 0X00; //disable twi
 //TWBR= 0x10; //set bit rate
 //TWSR= 0x02; //set prescale
 //TWAR= 0x00; //set slave address
 //TWCR= 0x44; //enable twi
 ////////
 TWBR=0xF2;
TWAR=0x01;
TWCR=0x44;
}

//ADC initialize
// Conversion time: 1uS
void adc_init(void)
{
 ADCSR = 0x00; //disable adc
 ADMUX = 0xC0; //select adc input 0
 ACSR  = 0x80;
 ADCSRA = 0xE7;
}

#pragma interrupt_handler int0_isr:2
void int0_isr(void)