yyyfffgai.c

ＤＳＰ２４０７ 基于神经网络的交流电机控制源程序

      wait_ms( 1 );
  return(uart1_err);
}
 
/****/ 
void uart(void)
{
	 uart1test();	 /* execute the test */  
}
/**********************************************************/

#define DAC0	  0	    /* 1st digital to analog converter	*/
#define DAC1	  1	    /* 2nd digital to analog converter	*/
#define DAC2	  2	    /* 3rd digital to analog converter	*/
#define DAC3	  3	    /* 4th digital to analog converter	*/
#define DAC_XFER  4	    /* transfer data */
#define DAC41      4 
#define DAC4      0ch
#define DAC8      0008h
/*
  Macro Expansion Declarations
*/
#define _DAC_BASE  0h

/*
  Write Only
*/
#define _DAC0     _DAC_BASE+0		    /* 1st digital to analog converter	*/
#define _DAC1     _DAC_BASE+1		    /* 2nd digital to analog converter	*/
#define _DAC2     _DAC_BASE+2		    /* 3rd digital to analog converter	*/
#define _DAC3     _DAC_BASE+3		    /* 4th digital to analog converter	*/
#define _DAC_XFER _DAC_BASE+4         /* transfer data */
#define _DAC4     0ch
#define _DAC8     0008h
/*
  Macro definitions
*/

#define ISRA          0x7094
#define ISRB          0x7096

#define PADATDIR      0x7098

#define PBDATDIR      0x709A

#define PCDATDIR      0x709C

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



volatile  unsigned int  * m ;

int        YI;
float q; 

unsigned int dac_vals[4];

   
 /******************************************************************************/  
   /* define varies inorder to get the average output speed , every six time */  

int average(int y) 
 {
 int average1;
 float tt=0;
 int i;
 int l=0;
 
 avera[0]=avera[1];
 avera[1]=avera[2]; 
 avera[2]=avera[3];
 avera[3]=avera[4];  //05.31
 avera[4]=avera[5];
 avera[5]=avera[6];
 avera[6]=avera[7];
 avera[7]=avera[8];
 avera[8]=avera[9];
 
 avera[9]=y;
 
if(avera[0]==0)
 {
 for(i=0;i<10;i++)
  {
   if(avera[i]>0) l=l+1;
  }
     average1=(float)(avera[0]+avera[1]+avera[2]+avera[3]+avera[4]+avera[5]+avera[6]+avera[7]+avera[8]+avera[9])/l; 
 }

 else  
 average1=(float)(avera[0]+avera[1]+avera[2]+avera[3]+avera[4]+avera[5]+avera[6]+avera[7]+avera[8]+avera[9])/10;

 
 
  
 avera[9]=average1; 

 
 return average1;
 }  
 
 
/*屏蔽中断子程序*/ 
void inline disable()
{
  asm(" setc INTM");
       
}   
  

/* 开总中断子程序*/
void inline enable()
{ 
	asm(" clrc INTM ") ;
	
} 
/*系统初始化子程序*/
void initial()
{
	asm(" setc SXM");    /* 符号位扩展有效 */
	asm(" clrc OVM");    /*累加器中结果正常溢出*/
	asm("  clrc CNF");   /*B0 被配置为数据存储空间*/ 
/*(volatile unsigned int*) SCSR1=0x81FE  ;  */ /*CLKIN=6 M,CLKOUT=4 * CLKIN=24 M*/     
 *(volatile unsigned int*)SCSR1 = 0x83FE;
	* WDCR =0X0E8   ;    /* 不使能看门狗，因为SCSR2中的WDOVERRIDE*/
	                     /*即WD保护位复位后的缺省值为1,故可以用*/
                         /*软件禁止看门狗*/
    *IMR=0x0001  ;       /*容许INT1中断*/
	*IFR=0x0FFFF ;        /*清除全部中断标志，"写1清0"*/
}

 /* AD初始化程序 */
 void ADINIT()
 {     
     int i;
	 *T4CNT=0X0000;         /* T4计数器清0部件*/
     *T4CON=0X170C;         /* T4为连续增计数模式，128分频，且选用内部时钟源*/
	 *T4PER=0X75;           /* 设置T4的周期寄存器*/
	 *GPTCONB=0X400;         /* T4周期中断标志触发AD转换*/
	 *EVBIFRB=0XFFFF;       /* 清除EVB中断标志，"写1清0"*/
	 *ADCTRL1=0X10;          /* 采样时间窗口预定标位为ACQ PS3~ACQ PS0为0*/
	                         /*转换时间预定标位CPS为本0,AD为起动/停止模式*/
	                        /* 排序器为级联工作方式,且禁止特殊的两种工作模式*/
	 *ADCTRL2=0X8404;         /* 可以用EVB的一个事件信号触发AD转换*/
		                      /* 且用中断模式1*/
     *MAXCONV=0X00;           /* 16通道*/
	*CHSELSEQ1=0X0000;
     *CHSELSEQ2=0X0000;
     *CHSELSEQ3=0X0000;
	 *CHSELSEQ4=0X0000;

	 for(i=0;i<29;i++)
	    {pcdata[i]=0;}
 }  
 
 /* 启动AD转换子程序(通过启动定时器4的方式间接启动)*/
 void ADSOC()
 {
 *T4CON=*T4CON|0x40 ;         /*启动定时器4*/
 }   
 


  
/*AD中断服务子程序*/   
   int flag =0    ;  
   int  k=0;
   int  j=0 ;  
   int as=0;        /*抑制符号位扩展*/ 
   int fan=0;  
   int x=0  ;    
 /*********/      
 
/*给上位机送参数*/ 
void sendpc(float value,int charr) 
{ 
int mid; 
me=charr;
uart();  

mid=value/10;
me=mid+48;
uart(); 

me=value-mid*10+48;
uart();   
} 
float  Yerror;
float  average1;
float Yi;
float sum4=0; 

void interrupt adint()
{  
  int k;
   asm(" clrc SXM");

 
   m=RESULT0;           
   YI=*m>>6; 
   
  q=average(YI) ;
  backspeed=q/1023*1.93; 
 
    

  
 if(stopflag==1)
   {
    error[0]=error[1];
    error[1]=error[2];
 
  error[2]=outspeed/1500*2.5-backspeed;

    
  
  
  mide1= error[2]-error[1];
  mide2= error[2]-2*error[1]+error[0]; 
 
  mide3=kp*mide1+ki*error[2]+kd*mide2;  
                                   
  runspeed=runspeed+mide3;
  
   yout[0]=yout[1];
   yout[1]=runspeed;                                      
   } 
  else   
       {
         runspeed=0;
       
       }     

/***************输出滤波************/      
   midspeed[0]=midspeed[1];
   midspeed[1]=midspeed[2]; 
   midspeed[2]=midspeed[3];
   midspeed[3]=midspeed[4]; 
   midspeed[4]=midspeed[5]; 
   midspeed[5]=midspeed[6]; 
   midspeed[6]=midspeed[7]; 
   midspeed[7]=midspeed[8]; 
   midspeed[8]=midspeed[9]; 
                 
   midspeed[9]=runspeed;
   runspeed=(midspeed[0]+midspeed[1]+midspeed[2]+midspeed[3]+midspeed[4]+midspeed[5]+midspeed[6]+midspeed[7]+midspeed[8]+midspeed[9])/10; 
  
  
 if( runspeed >2.5)  runspeed = 2.5;                 /* 过电压时保护调节 */
 if( runspeed <0)  runspeed = 0 ;      
 j=(int)(runspeed/2.5*4095);    
  
  /*******************************/  
   midv=q*3.3/1023 ;  
       
  me =72 ; 
  uart();      
      
 fpart=modf(midv , &ipart) ;      
    me =ipart+48 ;    
    uart();  
       
    fpart1 =(midv-ipart)*10  ; 
    modf(fpart1 , &ipart1) ;
    
     me =ipart1+48 ; 
      uart();    
      
   fpart2 =(midv-ipart-(ipart1/10))*100  ; 
    modf(fpart2 , &ipart2) ;
  
      me =ipart2+48 ; 
      uart();    
     
     fpart3 =(midv-ipart-(ipart1/10)-(ipart2/100))*1000  ; 
     modf(fpart3 , &ipart3) ;
         
     me =ipart3+48 ; 
     uart();                
   
     
    pidi=kp;  
    pidf=(kp-pidi)*100;    
    sendpc(pidi,80);     
    sendpc(pidf,81);   
    
    pidi=ki;  
    pidf=(ki-pidi)*100;    
    sendpc(pidi,73);     
    sendpc(pidf,74); 
      
    pidi=kd;  
    pidf=(kd-pidi)*100;    
    sendpc(pidi,68);     
    sendpc(pidf,69) ;     
       
     /*取一个字符*/                
     getchar1=uart1_get_char();
     wait_ms(1);
  /********************************/ 

     OUTMAC( _DAC0, j);  
     OUTMAC( _DAC_XFER, j);
     
   *ADCTRL2=*ADCTRL2|0X4200;    /*复位SEQ1,且清除INT FLAG SEQ1 标志 "写1清0"*/ 
   flag=1;
  enable();                     /*开总中断,因为一进入中断总中断就自动关闭了*/
}
 

main()
{   
    unsigned int uart_ctr;
	disable() ;                /*禁止总中断*/  
	initial() ;                /*系统初始化*/
	ADINIT()  ;                /*AD初始化子程序*/ 	 
	test_init();               /* init variables & hardware */ 
    init_uart1();              /* set up uart 9600, no parity, 1 stop */

    
    uart_ctr = wait_ms( 2 ); 
     
    enable() ;                 /*开总中断*/ 
	ADSOC();                   /*启动AD转换*/
     
	while(1)
	{
	}                 
}