main.c

使用mega88芯片

#include "main.h"
#include "port.h"

#define PID_KP   (0.003f)
#define PID_KI   (0.170f)
#define PID_KD   (0.100f)

void Port_Init(void);
void Uart_Init(void);
void Spu_Init(void);
void Pwm_Adjust(void);

volatile u08 Send_Buff[4];
volatile u08 Send_Len;
volatile u08 *Send_Ptr;
u08 Target_Spu;
volatile u08 Actual_Spu;
volatile u08 Spu_Number;
volatile u08 Pwm_Adjust_Enable;


void main(void)
{
	OSCCAL=0xB7;
 	__delay_cycles(65530);     	
	Port_Init();
	
	//pwm  generate	,cycle is 55.5us
	TCCR1A=(1<<COM1B1)|(1<<WGM10);
	TCCR1B=(1<<WGM13)|(1<<CS10);
	OCR1AH=0;
	OCR1AL=222;
	OCR1BH=0;
	OCR1BL=0;	
	SPEED_MOTOR_ENABLE();

	TCCR0A=(1<<WGM01);
	TCCR0B=((1<<CS00)|(1<<CS02));
	OCR0A=255;      //cycle=(255+1)*0.125*1024us=32768us;
	TIMSK0=(1<<OCIE0A);

	Uart_Init();
	Spu_Init();
	Pwm_Adjust_Enable=0;

	
	_SEI();
	Target_Spu=100;
	while (1)
	{
		if (Pwm_Adjust_Enable)
		{
			Pwm_Adjust();
			Pwm_Adjust_Enable=0;
		}
	}
}
void Port_Init(void)
{
	DDRB=0x47;
	PORTB=0x41;

	DDRC=0x00;
	PORTC=0x08;

	DDRD=0xEE;
	PORTD=0x83;	

	DIDR0=0x07;
}

void Uart_Init(void)
{
    UCSR0A =0;
	UBRR0H=0;
	UBRR0L=51;
    UCSR0C = (1<<UCSZ01)|(1<<UCSZ00);		// 8 bit
	UCSR0B= (1<<RXCIE0)|(1<<RXEN0)|(1<<TXCIE0)|(1<<TXEN0);
    UART_RECEIVE_ENABLE();				
    Send_Len=0;
}

void Spu_Init(void)
{
    PCICR = (1 << PCIE0);
    PCMSK0 =(1 << PCINT7); 
	Spu_Number=0;
}

#pragma vector = TIMER0_COMPA_vect
__interrupt void timer0_compa_isr(void)
{
	static u08 counter=0;
	counter++;
	if (counter>4)            //163840us
	{
		counter=0;
		PORTD^=1<<_LED;
		
		Actual_Spu=Spu_Number;
		Spu_Number=0;
		Send_Buff[0]=0x55;
		Send_Buff[1]=OCR1BL;
		Send_Buff[2]=Actual_Spu;
		
		UART_SEND_ENABLE();
		Send_Len=3;
		Send_Ptr=Send_Buff;
		UDR0=*Send_Ptr++;
		Send_Len--;
		Pwm_Adjust_Enable=1;
	}
}

#pragma vector=USART_RX_vect
__interrupt void uart0_rx_isr(void)
{
}

#pragma vector=USART_TX_vect
__interrupt void uart0_tx_isr(void)
{
	if (Send_Len)
	{
		UDR0=*Send_Ptr++;
		Send_Len--;
	}
	else 
	{
		UART_RECEIVE_ENABLE();				
	}
}

#pragma vector = PCINT0_vect
__interrupt void pcint0_isr(void)
{
    if (TESTBIT(PINB, _SPU))               
    {
		Spu_Number++;
    }
}
/*
void Pwm_Adjust(void)
{
	float err;
	static float Sum=0;
	static float last_err=0;
	float new_control;
	
	err=(float)Target_Spu-(float)Actual_Spu;
	new_control=OCR1BL;
	new_control+=err*PID_KP;
	Sum+=err;
	new_control+=Sum*PID_KI;
	new_control+=(err-last_err)*PID_KD;
	if (new_control>60)
	{
		new_control=60;
		Sum-=err;
	}
	else if (new_control<0)
	{
		new_control=0;
		Sum-=err;
	}
	OCR1BL=ceil(new_control);
	last_err=err;
}
*/
void Pwm_Adjust(void)
{
	float err;
	static float last_err1=0;
	static float last_err2=0;
	float dlt;
	
	err=(float)Target_Spu-(float)Actual_Spu;
	dlt=PID_KP*(err-last_err1)+PID_KI*err+PID_KD*(err-2*last_err1+last_err2);
	dlt+=OCR1BL;
	if (dlt>100)
	{
		dlt=100;
	}
	else if (dlt<0)
	{
		dlt=0;
	}
	OCR1BL=dlt+0.5;
	last_err2=last_err1;
	last_err1=err;
}