tempcontrol02.c

基于DSP的温度控制系统（开发环境：CCS)

#pragma CODE_SECTION(vect,"vect")
#include <stdio.h>

void TEMPcontrol(void);
void testint1(void);

#define IMR   *(pmem+0x0000)  
#define IFR   *(pmem+0x0001)  
#define PMST  *(pmem+0x001D)  
#define SWCR  *(pmem+0x002B)  
#define SWWSR *(pmem+0x0028) 
#define AL    *(pmem+0x0008) 
#define CLKMD  0x0058 /* clock mode reg*/

/* timer 0 */
#define TIM0  *(pmem+0x0024)  /* timer0 register */
#define PRD0  *(pmem+0x0025)  /* timer0 period register */
#define TCR0  *(pmem+0x0026)  /* timer0 control register */

#define Len1 1800
#define Len2 60
int r = 180;//165--195

unsigned int  *pmem=0;
unsigned int  flagc,flagt;
int i,j,n,m;
int TIMER1,TIMER2;           /* 1s counter and 5s counter  */
unsigned int pw,nw;                   /* positive pulse width and negative pulse width */
int feedback = 0;                /* INT1 counter to count the speed */
int *feed =(int *)0x1000;
int temp1[Len1],temp2[Len2];               /* To store the speed in different PWM during 1s */

double deta,duty;
double e0,e1,e2,y0,y1,y2,x;
double Kp = 5.0;     
double Ti = 1.0;   
double Td = 0.2;   
double T = 1;
double a0,a1,a2;

void cpu_init()
{
	*(unsigned int*)CLKMD=0x0;         //switch to DIV mode clkout= 1/2 clkin
     while(((*(unsigned int*)CLKMD)&01)!=0);
   *(unsigned int*)CLKMD=0x27ff;      //switch to PLL 
	
	PMST=0x3FA0;
	SWWSR=0x7fff;
	SWCR=0x0000;
	IMR=0;
	IFR=IFR;
} 
int	cnt = 0;
ioport	unsigned char	port8001;
unsigned char	data[10];
void sort(unsigned char * array,int length);
unsigned char sum_ave(unsigned char * array,int length);
unsigned int average;

interrupt void int1()   
{
	data[cnt] = port8001;
	data[cnt] &= 0x00FF;
	cnt++;
	if (cnt >= 10) {
		cnt = 0;
	}
}
void set_int()    
{
	asm(" ssbx intm");
	TCR0=0x0b1b;
	PRD0=0x9c3f;   //0x4e1f;       
	IMR=IMR|0x000c;  
	IFR=IFR;
	TCR0=0x0b29; 
	asm(" rsbx intm");  
}
interrupt void tint0()
{
	TIMER1++;
	TIMER2++;

	if(TIMER1==50*5)/* 1s=(1)PRD0=0x4e1f; (2)#0xf007, CLKMD (10MHz)(3)TIMER1==50)*/
	{	
		TIMER1 = 0;

		sort(data,10);
		average = sum_ave( &data[2],6);
		feedback = average;
	
		temp1[m] = feedback;
 		m++;

		y2 = y1;
		y1 = y0;
		y0 = feedback;
		e0 = r - y0;
		e1 = r - y1;
		e2 = r - y2;

		duty = 1.0/(2*(a0+a2));
		
		deta = 0.5*(a0*e0 - a1*e1 + a2*e2)*duty;  //duty;
	}
	if (TIMER2==1500*5)   /* 30s */  
	{
		if (n<Len2)
		{	
		    temp2[n] = feedback;
			feedback = TIMER2 = 0;
			n++;
		}
	}
	feedback = 0;                 
} 

void TEMPcontrol()
{	
	asm(" ssbx xf");
	for(i=0;i<pw;i++) 
	{
      	j=0;j=0;j=0;j=0;j=0;j=0;j=0;j=0;
      	j=0;j=0;j=0;j=0;j=0;j=0;j=0;j=0;
      	j=0;j=0;j=0;j=0;j=0;j=0;j=0;j=0;
		j=0;j=0;j=0;j=0;j=0;j=0;j=0;j=0;
		j=0;j=0;j=0;j=0;j=0;j=0;j=0;j=0;
      	j=0;j=0;j=0;j=0;j=0;j=0;j=0;j=0;
	}
	asm(" rsbx xf");
    for(j=0;j<nw;j++) 
	{
        i=0;i=0;i=0;i=0;i=0;i=0;i=0;i=0;
      	i=0;i=0;i=0;i=0;i=0;i=0;i=0;i=0;	
      	i=0;i=0;i=0;i=0;i=0;i=0;i=0;i=0;
      	i=0;i=0;i=0;i=0;i=0;i=0;i=0;i=0;
      	i=0;i=0;i=0;i=0;i=0;i=0;i=0;i=0;
      	i=0;i=0;i=0;i=0;i=0;i=0;i=0;i=0;
	 }
}
void main(void)
{
	cpu_init();
	a0 = Kp*(1.0 + T/Ti + Td/T);
	a1 = Kp*(1.0 + 2.0*Td/T);
	a2 = Kp*Td/T;
	e0=e1=e2=y0=y1=y2=0;

	pw = 2*10000*0.9;//0.1
	nw = 2*10000*0.1;//0.9

	for (i=0; i<Len1; i++)
	{temp1[i]=0;}
	for (i=0; i<Len2; i++)
	{temp2[i]=0;}
	flagc = flagt = 0;
	i=j=m=n=feedback = 0;
	TIMER1 = TIMER2 =0;

	set_int();

	for(;;)
	{

	/*	if(flagt==1) {asm(" ssbx xf");}
		else         {asm(" rsbx xf");}*/

		pw = pw + 20000*deta;//10000
		nw = nw - 20000*deta;//10000
		
		if (pw>=20000) pw=20000;
		if (nw>=20000) nw=20000;
		if (pw<=0)     pw=0;
		if (nw<=0)     nw=0;
	
		TEMPcontrol();
	/*	if(m>=1800){
			pw = 10000*1.0;
    		nw = 10000*0;
		}
		*/
	}
}
//	char	array[10] = {0x112,0xa3,0x11,4,0x55,6,0x55,7,0x22,0x33};
void sort(unsigned char * array,int length)
{
	int		i, ii;
	unsigned char	max;
//	for (i = 0; i < length; i++) {
//		array[i] &= 0xFF;
//	}
	for (i = 0; i < length; i++) {
		max = array[i];
		for ( ii = i; ii < length; ii++) {
			if (array[ii] > max) {
				max = array[ii];
				array[ii] = array[i];
				array[i] = max;
			}
		}
	}
}
unsigned char sum_ave(unsigned char * array,int length)
{
	register int i;
	unsigned int	sum = 0;
	for (i = 0; i < length; i++) {
		sum += array[i];
	}
	return ((unsigned char)(sum/length));
}
void vect()
{
   asm(" .ref _c_int00");/*pseudoinstruction*/
   asm(" .ref _int1");

   asm(" b _c_int00");/* reset */  
   asm(" nop");
   asm(" nop");
   asm(" rete");        
   asm(" nop");
   asm(" nop");
   asm(" nop");
   asm(" rete");
   asm(" nop");
   asm(" nop");
   asm(" nop");
   asm(" rete");
   asm(" nop");
   asm(" nop");
   asm(" nop");
   asm(" rete");
   asm(" nop");
   asm(" nop");
   asm(" nop");
   asm(" rete");
   asm(" nop");
   asm(" nop");
   asm(" nop");
   asm(" rete");
   asm(" nop");
   asm(" nop");
   asm(" nop");
   asm(" rete");
   asm(" nop");
   asm(" nop");
   asm(" nop");
   asm(" rete");
   asm(" nop");
   asm(" nop");
   asm(" nop");
   asm(" rete");
   asm(" nop");
   asm(" nop");
   asm(" nop");
   asm(" rete");
   asm(" nop");
   asm(" nop");
   asm(" nop");
   asm(" rete");
   asm(" nop");
   asm(" nop");
   asm(" nop");
   asm(" rete");
   asm(" nop");
   asm(" nop");
   asm(" nop");
   asm(" rete");
   asm(" nop");
   asm(" nop");
   asm(" nop");
   asm(" rete");
   asm(" nop");
   asm(" nop");
   asm(" nop");
   asm(" rete");
   asm(" nop");
   asm(" nop");
   asm(" nop");
   asm(" rete");       /* int0 */
   asm(" nop");
   asm(" nop");
   asm(" nop");
   asm(" rete");  
   asm(" nop");			    /* int1 */
   asm(" nop");
   asm(" nop");
 //  asm(" rete");       /* int2 */
   asm(" b _int1");   
   asm(" nop");
   asm(" nop");
 //  asm(" nop");
   asm(" b _tint0");      /* tint0 */
   asm(" nop");
   asm(" nop");
   asm(" nop");
   asm(" rete");       /* brint0 */
   asm(" nop");
   asm(" nop");
   asm(" nop");
   asm(" rete");       /* bxint0 */
   asm(" nop");
   asm(" nop");
   asm(" nop");
   asm(" rete");      /* dmac0 */
   asm(" nop");
   asm(" nop");
   asm(" nop");
   asm(" rete");       /* tint1 */
   asm(" nop");
   asm(" nop");
   asm(" nop");
   asm(" rete");       /* int3 */
   asm(" nop");
   asm(" nop");
   asm(" nop");
   asm(" rete");       /* hpint */
   asm(" nop");
   asm(" nop");
   asm(" rete");       /* brint1 */
   asm(" nop");
   asm(" nop");
   asm(" nop");
   asm(" rete");       /* bxint1 */
   asm(" nop");
   asm(" nop");
   asm(" nop");
   asm(" rete");       /* dmac4 */
   asm(" nop");
   asm(" nop");
   asm(" nop");
   asm(" rete");      /* dmac5 */
   asm(" nop");
   asm(" nop");
   asm(" nop");
   asm(" nop");
   asm(" nop");
   asm(" nop");
   asm(" nop");
   asm(" nop");
   asm(" nop");
   asm(" nop");
}