📄 main.c
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*
* FUNCTION PROTOTYPES
**********************************************************************************/
int CalculateP(void);
float CalculatePID(void);
/***********************************************************************************
*
*
* PID控制程序
***********************************************************************************/
struct CARSTATE
{ int E0;
int E1;
int E2;
int E3;
float Integral;
}CarState;
/* *********************************************************************************
*
*
* 初始化PID参数
**********************************************************************************/
void Init_PID()
{
CarState.E0 = 0;
CarState.E1 = 0;
CarState.E2 = 0;
CarState.E3 = 0;
CarState.Integral = 0;
}
/* ********************************************************************************
*
*
* 信号处理函数
*
* 程序描述: 对传感器采集过来的数据进行处理，得到一些基本的计算参数
*
* 说明： 无
**********************************************************************************/
int SignalProcess( unsigned char signal )
{
const int BitValue[8] = {43,26,12,6,-6,-12,-26,-43}; //MAX:28
int i,CurrPoint=0,LastPoint=0,BitNum=0;
unsigned char SignalBit[8];
for(i=0;i<8;i++)
{ SignalBit[i] = signal & 0x0001;
BitNum += SignalBit[i];
signal >>= 1;
}
switch(BitNum)
{
case 1:
for(i=0;i<8;i++)
if(SignalBit[i] != 0)
CurrPoint += BitValue[i];
CarState.E0 = CurrPoint;
break;
case 2:
for(i=0;i<8;i++)
if(SignalBit[i] != 0)
CurrPoint += BitValue[i];
CurrPoint >>= 1;
CarState.E0 = CurrPoint;
break;
default:
CarState.E0 = CarState.E1;
break;
}
return CalculateP()*100;
}
/***********************************************************************************
*
*
* PID计算函数
*
* 程序描述: 计算P参数
*
* 说明： 无
**********************************************************************************/
int CalculateP(void)
{
CarState.E1 = CarState.E0;
return((int)CarState.E0);
}
/* *********************************************************************************
*
*
* PID计算函数
*
* 程序描述: 对传感器采集过来的数据进行处理，得到一些基本的计算参数
*
* 说明： 无
**********************************************************************************/
float CalculatePID(void)
{
float P, I = 0, D;
float Kp = 1.0, Ki = -0.0002, Kd = -0.0002; /* parameter const */
P = CarState.E0 * Kp; /* P parameter */
if(P+I<2)
{
CarState.Integral += Ki * CarState.E0;
I = CarState.Integral; /* I parameter */
}
D = Kd * ( CarState.E0 + 3*CarState.E1 - 3*CarState.E2 - CarState.E3 )/6.0; /* D parameter */
CarState.E3 = CarState.E2;
CarState.E2 = CarState.E1;
CarState.E1 = CarState.E0;
return (P+I+D);
}
/* *********************************************************************************
*
*
* Test.c
*
* Description: This file includes I/ O function for test, the PWM outputs function for test, function
*
* testing sensors.
*
* (c) Copyright 2006,Zhao Cheng
*
* All Rights Reserved
*
* By : Zhao Cheng
*
* Note : Don't change this file if possible.
**********************************************************************************/
#include <hidef.h>
#include <mc9s12dg128.h>
// #define HIGHSPEED 8000
#define LOWSPEED 11000 /* 速度变量，0-24000 数值越大，速度越慢 */
void PWMout(int, int); /* 24000-20000 */
void IOtest(void)
{
static unsigned char i=0,j=0x01,k;
DDRB = DDRA = 0xFF;
PORTB = 0xf0;
for(;;)
{
k=(~j)&0x7f;
PORTA = PORTB = k;
while (TCNT != 0x0000);
while (TCNT == 0x0000)
{
if(i>9)
{
j=j<<1;
i=0;
}
i++;
}
if(j>=0x80)
j=0x01;
}
}
void PWMtest(void)
{
int counter=-4500;
DDRB = 0xff;
PORTB = 0xff;
TSCR1 = 0x80; /* enable timer TCNT */
TSCR2 = 0x00; /* TCNT prescaler setup */
for(;;)
{
while (TCNT != 0x0000);
while (TCNT == 0x0000); //我认为这有一些问题
counter=counter+30;
if(counter >= 3000)
{
counter = 0;
PWMout(4500, LOWSPEED);
}
if(counter == 1500)
{
PWMout(-4500, LOWSPEED);
} PORTB = (char)(counter/100);
}
}
void SignalTest(void)
{
unsigned char signal;
int Direction, Velocity;
Direction = 0;
Velocity = LOWSPEED;
DDRA = 0x00;
DDRB = 0xff;
signal = PORTA;
PORTB = ~signal;
switch(signal)
{
case 0x08: /* 0001 1000 */
case 0x10:
Direction = 800;
Velocity = HIGHSPEED;
break;
case 0x04: /* 0010 0100 */
case 0x20:
Direction = 1500;
Velocity = HIGHSPEED;
break;
case 0x02: /* 0100 0010 */
case 0x40:
Direction = 2800;
Velocity = HIGHSPEED;
break; case 0x01: /* 1000 0001 */
case 0x80:
Direction = 4000;
Velocity = LOWSPEED;
break;
case 0x3c: /* 0011 1100 over start line */
case 0xff: /* 1111 1111 over crossing line */
case 0x00: /* 0000 0000 go straight not need changed state */
default:
break;
}
if(signal > 0x0f)
Direction = -Direction;
PWMout(Direction, LOWSPEED);
}
/**********************************************************************************
*
*
* LCD1620.c
*
* ICC-AVR application builder : 2006-1-8 21:43:48
*
* Target : M8 * Crystal: 4.0000Mhz
*
* Note : Don't change this file if possible.
**********************************************************************************/
#define CMD_CLEAR 0x01
#define CMD_RESET 0x02
// #include <iom8v.h>
// #include <macros.h>
#define LCD_DATA 0xff
#define LCD_EN 0x01 //PORTC 0
#define LCD_RS 0x02 //PORTC 1
#define LCD_RW 0x04 //PORTC 2
#define LCD_DATAPORT PORTB
#define LCD_ENPORT PORTA
#define LCD_RSPORT PORTA
#define LCD_RWPORT PORTA
void lcd_init(void);
void lcd_write_cmd(unsigned cmd,unsigned data);
void lcd_setxy(unsigned char x,unsigned char y);
void lcd_write_string(unsigned char X,unsigned char Y,unsigned char *str);
void delay_nus(unsigned int n); void delay_nms(unsigned int n);
void lcd_init(void)
{
DDRB |= LCD_DATA;
DDRA |= LCD_EN | LCD_RS | LCD_RW;
LCD_RWPORT&=~LCD_RW;
LCD_DATAPORT=0x30; //控制字规则：5：8bit,4:16x2,3:5x7
LCD_ENPORT|=LCD_EN; delay_nus(1);
LCD_ENPORT&=~LCD_EN; delay_nus(40);
lcd_write_cmd(0,0x38); //8bit test
lcd_write_cmd(0,0x0c); //显示开
lcd_write_cmd(0,0x01); //显示清屏
lcd_write_cmd(0,0x06); //显示光标移动设置
}
void lcd_write_cmd(unsigned cmd,unsigned data)
{
if(cmd==0)
LCD_RSPORT&=~LCD_RS;
else
LCD_RSPORT|=LCD_RS;
LCD_DATAPORT&=0x00;
LCD_DATAPORT=data;
LCD_ENPORT|=LCD_EN;
delay_nus(10);
LCD_ENPORT&=~LCD_EN;
delay_nus(10);
}
void lcd_setxy(unsigned char x,unsigned char y)
{
unsigned char addr;
if(y==0)
addr=x+0x80;
else
addr=x+0xc0;
lcd_write_cmd(0,addr);
} void
lcd_write_string(unsigned char X,unsigned char Y,unsigned char *str)
{
lcd_setxy(X,Y);
while(*str)
{
lcd_write_cmd(1,*str); str++;
}
}
void delay_1us(void) //1us延时函数
{
asm("nop");
}
void delay_nus(unsigned int n) //N us延时函数
{
unsigned int i=0;
for (i=0;i<n;i++)
delay_1us();
}
void delay_1ms(void) //1ms延时函数
{
unsigned int i;
for (i=0;i<1140;i++);
}
void delay_nms(unsigned int n) //N ms延时函数
{
unsigned int i=0;
for (i=0;i<n;i++)
delay_1ms();
}
//call this routine to initialize all peripherals
// void main(void)
// {
//
// lcd_init();
// while(1)
// {
// lcd_write_cmd(0,0x01);/*清屏*/
// delay_nms(2);
// lcd_write_string(0,0,"happy new year");
// delay_nms(100);
// lcd_write_string(0,1,"LCD successful!");
// delay_nms(100);
// }
// }
/******************************* 程序结束 *********************************/ ⌨️ 快捷键说明
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