📄 main._c
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/*ICC-AVR application builder : 2004-3-11 12:02:11
// Target : M16
// Crystal: 8.0000Mhz
主程序
******************************************************************************/
#include <iom16v.h>
#include <macros.h>
#include <eeprom.h>
#include <stdlib.h>
#include <math.h>
#include "main.h"
#include "eeprom_l.h"
#include "delay.h"
#include "comm.h"
#include "key.h"
//eeprom 中的数据表
#pragma data:eeprom
/*
{0x0000(2),speed_romaddr(2),state_romaddr(1),pump_tab_romaddr(1),
state_other_romaddr(1)}
*/
unsigned int space_eeprom=0000;
unsigned int speed_eeprom=100;
unsigned char state_eeprom=0;
unsigned char pump_tab_eeprom=1;
unsigned char state_other_eeprom=0;
#pragma data:code
const unsigned char tabsin[]={
0,6,13,19,25,31,37,44,50,56,62,68,74,80,86,92,
98,103,109,115,120,126,131,136,142,147,152,157,162,167,171,176,
180,185,189,193,197,201,205,208,212,215,219,222,225,228,231,233,
236,238,240,242,244,246,247,249,250,251,252,253,254,254,255,255,
255,255,255,254,254,253,252,251,250,249,247,246,244,242,240,238,
236,233,231,228,225,222,219,215,212,208,205,201,197,193,189,185,
180,176,171,167,162,157,152,147,142,136,131,126,120,115,109,103,
98,92,86,80,74,68,62,56,50,44,37,31,25,19,13,6,
};
const unsigned char tabcos[]={
255,255,255,254,254,253,252,251,250,249,247,246,244,242,240,238,
236,233,231,228,225,222,219,215,212,208,205,201,197,193,189,185,
180,176,171,167,162,157,152,147,142,136,131,126,120,115,109,103,
98,92,86,80,74,68,62,56,50,44,37,31,25,19,13,6,
0,6,13,19,25,31,37,44,50,56,62,68,74,80,86,92,
98,103,109,115,120,126,131,136,142,147,152,157,162,167,171,176,
180,185,189,193,197,201,205,208,212,215,219,222,225,228,231,233,
236,238,240,242,244,246,247,249,250,251,252,253,254,254,255,255,
};
#pragma data:data
//全局变量
unsigned int speed; //16位速度寄存器
unsigned int out_ctr; //16位AD转换值寄存器
unsigned int pull_number; //闸门时间的脉冲数
unsigned int time_da; //16位D/A时间寄存器
unsigned int time_da0;
unsigned char key; //按键值
unsigned char da_counter; //8位计数器:纪录正在读取的细分表位置
unsigned char micros_nu; //8位寄存器:纪录细分数如4,8,16,32,64,128,256
unsigned char micros_nu0; //最终纪录细分数
unsigned char key_state; //1：禁止 0：允许
//key_state.0 run/stop
//key_state.1 cw/ccw
//key_state.2 max
//key_state.3 enter
//key_state.4
unsigned char key_counter; //键盘加减计数器
unsigned long disp_time_counter0;
unsigned long disp_time_counter1;
unsigned char add_dec_nu;
unsigned char ac_bd_state;
unsigned char state; //软件位状态寄存器
//state.0 正反转状态位 1正转 0反转
//state.1 全速标志 1全速 0正常
//state.2
//state.3 启停 1启 0停
//state.4
//state.5
//state.6
//state.7
unsigned char state_other;//软件位状态寄存器
//state.2 显示方式 1流量 0转速
//state.4 脚踏开关标志位 1脉冲 0电平
//state.5 外控方式 1关 0开
unsigned char state0; //软件位状态寄存器0
//state0.0 校正体积改变标志 1改变 0无改变
//state0.1 电机abcd相工作状态位 1为ab相 0为cd相
//state0.2 测试模式使能位 1使能 0禁止
//state0.3 在旋转编码开关控制函数里是否为第一次旋转 1第一次，0连续
//state0.4 定时分配标志 1分配 0停止
//state0.5 接收消息有效标志
//state0.6 显示 1转速 0流量
//state0.7 初始化启停 1启 0停
extern unsigned char state2;
//state2.0 disable_data 1:输入数据无效 0:有效;
//state2.1 remote 1:遥控输入有效 0:本地输入有效
//state2.2 1:外控关 0:外控开
//state2.3 1:键盘+10 0:键盘+1
//state2.4 1:允许输入数据 0:禁止输入数据
//state2.5 1:允许 0:停机
//state2.6 1:无外控模块 0:有外控模块
//state2.7 p99 1:P99指令使能 0:禁止
extern unsigned char state1;
//state1.7 1:电流 0:电压
unsigned char in_out_state;
unsigned char in_out_number;
unsigned char wrong;
/*
0正常
1数值下溢出
2数值上溢出
3
*/
unsigned char counter;
unsigned int speed_pull;
extern unsigned char pump_tab;
//定义中断向量
#pragma interrupt_handler time1_int:iv_TIMER1_COMPA
#pragma interrupt_handler time2_int:iv_TIMER2_COMP
#pragma interrupt_handler pull_int:iv_INT0
/******************************************************
D/A出细分波形中断函数（定时器1比较匹配中断）
******************************************************/
void time1_int(void)
{
unsigned char i;
unsigned char j;
if (micros_nu==micros_nu0)
{time_da0=time_da;}
else
{if (da_counter==128)
{
micros_nu0=micros_nu;
time_da0=time_da;
}
}
OCR1A=time_da0;
if (da_counter>=128)
{da_counter=0;}
i=tabsin[da_counter];
j=tabcos[da_counter];
PORTD&=~(1<<DA_CS);
PORTD&=~(1<<DA_AB);
DATA_OUT=i; //送正弦值
asm("nop");
PORTA&=~(1<<DA_WR);
PORTA|=(1<<DA_WR);
PORTD|=(1<<DA_AB);
DATA_OUT=j; //送正弦值
asm("nop");
PORTA&=~(1<<DA_WR);
PORTA|=(1<<DA_WR);
PORTD|=(1<<DA_CS);
if ((state|0b11111110)==0b11111110) //判断正反转
{ //正转
if (ac_bd_state==0) //ac相处理
{
if (da_counter==0)
{
PORTC&=~(1<<DA_SIN);
PORTC&=~(1<<DA_COS);
ac_bd_state=1;
}
else
{
if (da_counter==64)
{
PORTC&=~(1<<DA_SIN);
PORTC|=(1<<DA_COS);
}
}
}
else //bd相处理
{
if (da_counter==0)
{
PORTC|=(1<<DA_SIN);
PORTC|=(1<<DA_COS);
ac_bd_state=0;
}
else
{
if (da_counter==64)
{
PORTC|=(1<<DA_SIN);
PORTC&=~(1<<DA_COS);
}
}
}
}
else //反转
{
if (ac_bd_state==0) //ac相处理
{
if (da_counter==0)
{
PORTC&=~(1<<DA_SIN);
PORTC|=(1<<DA_COS);
ac_bd_state=1;
}
else
{
if (da_counter==64)
{
PORTC&=~(1<<DA_SIN);
PORTC&=~(1<<DA_COS);
}
}
}
else //bd相处理
{
if (da_counter==0)
{
PORTC|=(1<<DA_SIN);
PORTC&=~(1<<DA_COS);
ac_bd_state=0;
}
else
{
if (da_counter==64)
{
PORTC|=(1<<DA_SIN);
PORTC|=(1<<DA_COS);
}
}
}
}
if (micros_nu0==32) //根据细分数对地址指针步进
{da_counter++;}
else
{
if (micros_nu0==16)
{da_counter=da_counter+2;}
else
{
if (micros_nu0==8)
{da_counter=da_counter+4;}
else
{
if (micros_nu0==4)
{da_counter=da_counter+8;}
else
{
if (micros_nu0==2)
{da_counter=da_counter+16;}
else
{
if (micros_nu0==1)
{da_counter=da_counter+32;}
}
}
}
}
}
}
/******************************************************
测量脉冲闸门时间波形中断函数（定时器2比较匹配中断）20-12KHZ 1-600RPM
******************************************************/
void time2_int(void)
{
//200MS闸门
counter++;
if (counter==6)
{OCR2=32;}
if (counter==7)
{
speed_pull=pull_number;
pull_number=0;
counter=0;
OCR2=0XFF;
}
}
/******************************************************
测量脉冲数中断函数（外部INT0中断）
******************************************************/
void pull_int(void)
{
pull_number++;
if (pull_number>2400)
{pull_number=2400;}
}
/****************************************************************
定时器1初始化函数
****************************************************************/
void timer1_init(void)
{
TCCR1B = (1<<CS10)|(1<<WGM12); //time1的控制寄存器B,CTC模式，clk=系统时钟
TIMSK &=~(1<<OCIE1A); //定时中断屏蔽寄存器
}
/****************************************************************
定时器2初始化函数
****************************************************************/
void timer2_init(void)
{
TCCR2=(1<<CS20)|(1<<CS21)|(1<<CS22)|(1<<WGM21);
OCR2=0XFF;
}
/****************************************************************
INT0初始化函数
****************************************************************/
void int0_init(void)
{
DDRD&=~(1<PULL_IN);
MCUCR=(1<<ISC01)|(1<<ISC00);
}
/****************************************************************
端口初始化
****************************************************************/
void port_init(void)
{
//PORTA = 0xff;
//DDRA = 0xdf;
//PORTB = 0x00;
//DDRB = 0x00;
//PORTC = 0b01111110;
//DDRC = 0b10000001;
//PORTD = 0xff;
//DDRD = 0x00;
PORTC&=~(1<<INT);
DDRC |=(1<<INT);
}
/******************************************************
脉冲输入开始函数
******************************************************/
void pull_start(void)
{
GICR|=(1<<INT0);
TIMSK|=(1<<OCIE2);
pull_number=0;
counter=0;
OCR2=0XFF;
}
/******************************************************
脉冲输入开始函数
******************************************************/
void pull_stop(void)
{
GICR&=~(1<<INT0);
TIMSK&=~(1<<OCIE2);
}
/******************************************************
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