main.c

基于DSP5509的PID电路的程序历程 希望对DSP初学者有所帮助

#include "stdio.h"
#include "myapp.h"
#include "ICETEK-VC5509-EDU.h"
#include "scancode.h"
#include "lcd.h"

void InitMcBSP();
void INTR_init( void );
void InitForMotorB(void);
void ShowParameters();
void LCDPutString(unsigned int *pData,int x,int y,unsigned int nCharNumber,unsigned color);
void PIDControl(int rk,int yk);
void PrintParameters();

//定时器分频参数 ------------------------------------------------------------------
#define T100	99		// 100个时钟周期中断一次
#define T2Hz 20000		// 20000个时钟周期读取速度一次

//工作变量-------------------------------------------------------------------------
unsigned int uWork,uN,nCount,nCount1,nCount2,nCount3;
int nSSS,nJSSpeed,pwm1;
int md,wc;

float a=0.6f,b=0.2f,c=0.1f,duk;
int ek,ek1,ek2,tz;
int nInput;
unsigned int *www=(unsigned int *)0x602801;
int m_nSpeed,m_bPCSet;
//主函数---------------------------------------------------------------------------
main()
{
	unsigned int nScanCode;
	unsigned char cKey,ccc;
	int speed[100],sp,lj;
	float ljh;
	char strInput[4];
	int i,w1,w2,w3;
	
	// 初始化工作变量
	for ( sp=0;sp<100;sp++ )	speed[sp]=0;
	for ( sp=0;sp<1024;sp++ )	nScreenBuffer[sp]=0;
	sp=nSSS=nCount=nCount1=nCount2=nCount3=nJSSpeed=0; cKey=0; nInput=tz=wc=0;
	ek=ek1=ek2=0;
	for ( uWork=0;uWork<4;uWork++ )	strInput[uWork]=0;
	uN=70; md=70; pwm1=0;
	m_nSpeed=70; m_bPCSet=0;

	SDRAM_init();
	InitCTR();
	CLK_init();
	// 设置显示参数和内容
	LCDSetDelay(1);		// 设置延时等待参数
	LCDSetScreenBuffer(nScreenBuffer);	// 显示缓冲区
	LCDTurnOn();			// 打开显示
	LCDCLS();				// 清除显示内存   
	LCDPutCString(str1,0,63,8,0);
	LCDPutCString(str2,0,47,2,1);
	LCDPutCString(str3,68,47,2,1);
	LCDPutCString(str6,0,31,2,1);
	LCDPutCString(str5,68,31,2,1);
	LCDPutCString(str7,0,15,3,1);
	LCDPutCString(str4,68,15,2,1);
	ShowParameters();		// 参数显示
	CREG=1;				// 使能外部总线接口
	InitMcBSP();
	INTR_init();
	InitForMotorB();
	SetDSPPLL(0x2513);
	while ( 1 )
	{
		if ( nCount==0 )	// 读取键盘标志
		{
			nScanCode=GetKey();	// 读扫描码
			nScanCode&=0x0ff;	// 低8位
			if ( nScanCode!=0 )
			{
				if ( nScanCode==SCANCODE_Num )	
				{
					LCDCLS();				// 清除显示内存   
					break;	// NUM键退出
				}
				else
				{
					if ( nScanCode==SCANCODE_Enter )	// 按回车键输入速度
					{
						uWork=strInput[0]*10+strInput[1];	// 计算调整速度
						md=uWork;
						for ( uWork=0;uWork<2;uWork++ )	strInput[uWork]=0;
						nInput=0;
						LCDPutString(numbers+104,104,15,1,1);
						LCDPutString(numbers+104,112,15,1,1);
						LCDPutString(numbers+104,120,15,1,1);
						LCDRefreshScreen();
						PrintParameters();
					}
					else
					{
						cKey=ConvertScanToChar(nScanCode);	
						if ( cKey>='0' && cKey<='9' )		// 输入速度值
						{
							strInput[nInput]=cKey-'0';
							nInput++; if ( nInput>=2 )	nInput=0;
							uWork=strInput[0]*10+strInput[1];	// 计算调整速度
							w1=uWork%1000/100; w2=uWork%100/10; w3=uWork%10;
							LCDPutString(numbers+w1*8,104,15,1,1);
							LCDPutString(numbers+w2*8,112,15,1,1);
							LCDPutString(numbers+w3*8,120,15,1,1);
							LCDRefreshScreen();
						}
					}
				}
			}
		}
		if ( m_bPCSet )	// 
		{
			m_bPCSet=0;
			if ( m_nSpeed>=0 && m_nSpeed<256 )
			{
				md=m_nSpeed;
				LCDPutString(numbers+104,104,15,1,1);
				LCDPutString(numbers+104,112,15,1,1);
				LCDPutString(numbers+104,120,15,1,1);
				LCDRefreshScreen();
				PrintParameters();
			}
		}
		if ( nJSSpeed==0 )	// 读取速度标志
		{
			nJSSpeed=0;
			ccc=CTRMOTORBSPEED;	// 从端口读取速度计数
			nSSS=ccc; 
			if ( nSSS>=0 && nSSS<200 )	// 合法性检测
			{
				speed[sp]=nSSS; 		// 读取66个计数值
				sp++; sp%=66;
			}
			if ( sp==0 )	// 是否已经读了66个速度？
			{				// 以下求速度平均值
				lj=0; ljh=0;
				for ( i=50;i<66;i++ )
				{
					if ( speed[i]>=0 && speed[i]<200 )
					{
						ljh+=speed[i];
						lj++;
					}
				}
				wc=( lj==0 )?(0):(ljh/lj);
				if ( wc>150 )
				{	
					wc=0;
				}
				nCount3++; nCount3%=3;
				if ( nCount3==2 )		
				{
					PIDControl(md,wc);	// 调用PID算法控制程序进行控制
					uN=100-pwm1;			// 利用占空比调整控制
					ShowParameters();	// 显示各参数值到LCD
				}
				PrintParameters();
			}
		}
	}
	CloseCTR();
	exit(0);
}

// PID算法控制子程序-------------------------------------------------------------------------
void PIDControl(int rk,int yk)
{
	ek=rk-yk;
	duk=a*ek+b*ek1+c*ek2;		// 计算控制输出
	ek2=ek1; ek1=ek;
	if ( duk>10 )	duk=10;		// 幅度限制
	tz=(int)duk;
	pwm1+=tz;					// 计算当前占空比
	if ( pwm1<0 )	pwm1=0;
	else if ( pwm1>99 )	pwm1=99;
}

void InitMcBSP()
{
	SPCR1_2&=0x0fffe;
	PCR2|=0x1400;
	SPCR2_1&=0x0fffe;
	PCR1|=0x2a00;
}

void interrupt Timer()
{
	// pwm1输出
	uWork=PCR2;
	if ( nCount1>uN )	uWork|=4;	// 根据占空比设置FSR状态
	else	uWork&=0x0fffb;
	PCR2=uWork;

	nCount++; nCount%=12800;		// 键盘输入标志
	nCount1++; nCount1%=100;		// 占空比标志
	// 速度采样脉冲1Hz方波
	nCount2++; nCount2%=T2Hz;		// 计数1秒
	nJSSpeed++; nJSSpeed%=20000;	// 读取速度标志
	if ( nCount2==0 )	PCR1^=0x8;	
}

void INTR_init( void )
{
	IVPD=0xd0;
	IVPH=0xd0;
	IER0=0x10;
	DBIER0 =0x10;
	IFR0=0xffff;
	asm(" BCLR INTM");

}

void InitForMotorB(void)
{
    ioport unsigned int *tim0; 
    ioport unsigned int *prd0; 
    ioport unsigned int *tcr0; 
    ioport unsigned int *prsc0;  
	tim0  =  (unsigned int *)0x1000;
	prd0  =  (unsigned int *)0x1001;
	tcr0  =  (unsigned int *)0x1002;
	prsc0 =  (unsigned int *)0x1003;
   *tcr0 = 0x04f0;
   *tim0 = 0;
   *prd0 = 2000;
   *prsc0 = 2;
   *tcr0 = 0x00e0;
	CTRLR=0x0c4;
}

// 显示参数到LCD
void ShowParameters()
{
	int w1,w2,w3;
	
	w1=md%1000/100; w2=md%100/10; w3=md%10;
	LCDPutString(numbers+w1*8,36,47,1,1);
	LCDPutString(numbers+w2*8,44,47,1,1);
	LCDPutString(numbers+w3*8,52,47,1,1);
	w1=wc%1000/100; w2=wc%100/10; w3=wc%10;
	LCDPutString(numbers+w1*8,104,47,1,1);
	LCDPutString(numbers+w2*8,112,47,1,1);
	LCDPutString(numbers+w3*8,120,47,1,1);
	if ( ek>=0 )
	{
		LCDPutString(numbers+88,36,31,1,1);
		w3=((int)ek)%100;
	}
	else
	{
		LCDPutString(numbers+96,36,31,1,1);
		w3=((int)(-ek))%100;
	}
	w1=w3%100/10; w2=w3%10;
	LCDPutString(numbers+w1*8,44,31,1,1);
	LCDPutString(numbers+w2*8,52,31,1,1);
	if ( tz>=0 )
	{
		LCDPutString(numbers+88,104,31,1,1);
		w3=tz;
	}
	else
	{
		LCDPutString(numbers+96,104,31,1,1);
		w3=(-tz);
	}
	w1=w3%100/10; w2=w3%10;
	LCDPutString(numbers+w1*8,112,31,1,1);
	LCDPutString(numbers+w2*8,120,31,1,1);
	w1=pwm1%100/10; w2=pwm1%10;
	LCDPutString(numbers+w1*8,44,15,1,1);
	LCDPutString(numbers+w2*8,52,15,1,1);
	LCDPutString(numbers+80,60,15,1,1);
	LCDRefreshScreen();
}

void LCDPutString(unsigned int *pData,int x,int y,unsigned int nCharNumber,unsigned color)
{
	int i,j,l;
	unsigned int k,mcolor;
	
	for ( l=0;l<nCharNumber;l++ )
		for ( i=0;i<8;i++ )
		{
			k=1;
			for ( j=0;j<16;j++,k<<=1 )
			{
				if ( color==2 )	mcolor=2;
				else
				{
					mcolor=( pData[l*8+i]&k )?(1):(0);
					if ( color==0 )	mcolor=1-mcolor;
				}
				LCDPutPixel(x+l*8+i,y-j,mcolor);
			}
		}
}

int wwcc;
void PrintParameters()
{
	wwcc=wc-md;
	printf("测速[%3d] 设置[%3d] 误差[%+4d] PID调整量[%+3d] 占空比[%3d%%]\n",
			wc,md,wwcc,tz,pwm1);
}