📄 main.c
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#include "stdio.h"
#include "myapp.h"
#include "ICETEK-VC5502-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);
//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,nCount4;
int nSSS,nJSSpeed,pwm1;
int md,wc;
float a=0.6f,b=-0.2f,c=0.1f,duk;
//float a=0.2765f,b= -0.1823f,c=0.0340f,duk; //L=16
//float a=0.3574f,b= -0.2204f,c=0.0340f,duk; //L=12
float pwm11;
int ek,ek1,ek2,tz;
int nInput;
unsigned int *www=(unsigned int *)0x602801;
int m_nSpeed,m_bPCSet;
int flage;
int bbreak;
//主函数---------------------------------------------------------------------------
main()
{
unsigned int nScanCode;
unsigned char cKey,ccc;
int speed[100],sp,lj;
float ljh;
int inputspeed;
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=nCount4=nJSSpeed=0; cKey=0; nInput=tz=wc=0;
ek=ek1=ek2=0;
for ( uWork=0;uWork<4;uWork++ ) strInput[uWork]=0;
uN=60; md=40; pwm1=40,pwm11=40;
m_nSpeed=40; m_bPCSet=0;
bbreak=0;
CLK_init();
initemif();
*(int *)0x400001=1;
InitCTR();
// 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
InitMcBSP();
INTR_init();
InitForMotorB();
flage=0;
while ( 1 )
{
if(bbreak)
{
break;
}
if ( nCount==0&&flage==1 ) // 读取键盘标志
{
flage=0;
nScanCode=GetKey(); // 读扫描码
nScanCode&=0x0ff; // 低8位
if ( nScanCode!=0 )
{
if ( nScanCode==SCANCODE_9 ) // 按回车键输入速度
{
Delay(256);
uWork=strInput[0]*10+strInput[1]; // 计算调整速度
if( uWork!=0 )
{
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();
}
}
else
{
cKey=ConvertScanToChar(nScanCode);
if ( cKey>='0' && cKey<='8' ) // 输入速度值
{
Delay(256);
strInput[nInput]=cKey-'0';
nInput++; if ( nInput>=2 ) nInput=0;
uWork=strInput[0]*10+strInput[1]; // 计算调整速度
inputspeed=uWork;
w1=inputspeed%1000/100; w2=inputspeed%100/10; w3=inputspeed%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();
}
}
}
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%=4;
}
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=0;i<4;i++ )
{
if ( speed[i]>=0 && speed[i]<200 )
{
ljh+=speed[i];
lj++;
}
}
wc=( lj==0 )?(0):(ljh/lj);
if ( wc>150 )
{
wc=0;
}
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
}
}
}
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
if ( duk<-10) duk=-10;
//tz=(int)duk;
pwm11+=duk;
tz=pwm11-pwm1;
pwm1=(int)pwm11; // 计算当前占空比
if ( pwm1<0 ) pwm1=0;
else if ( pwm1>99 ) pwm1=99;
}
void InitMcBSP()
{
SPCR1_1&=0x0fffe;
PCR1|=0x1400;
SPCR2_2&=0x0fffe;
PCR2|=0x2a00;
}
void interrupt Timer()
{
// pwm1输出
uWork=PCR1;
if ( nCount1>uN )
{
uWork|=4; // 根据占空比设置FSR状态
}
else
{
uWork&=0x0fffb;
}
PCR1=uWork;
nCount++; nCount%=10000; // 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 )
{
PCR2^=0x8;
flage=1;
}
/*nCount4++; nCount4%=5000;
if ( nCount4==0 )
{
LED^=1;
}*/
}
void INTR_init( void )
{
// 设置中断控制寄存器
asm( " BSET INTM");
IVPD=0x01;
IVPH=0x01;
IER0=0x10;
DBIER0 =0x10;
IFR0=0xffff;
asm(" BCLR INTM");
}
void InitForMotorB(void)
{
ioport unsigned int *GPTCTL1_0;
ioport unsigned int *GPTPRD1_0;
ioport unsigned int *GPTGCTL1_0;
GPTCTL1_0 = (unsigned int *)0x1010;
GPTPRD1_0 = (unsigned int *)0x100C;
GPTGCTL1_0 = (unsigned int *)0x1012;
*GPTCTL1_0=0;
*GPTPRD1_0=0x1d8;
*GPTGCTL1_0=0x3;
*GPTCTL1_0=0x80;
CTRGR=1;
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);
}
}
}
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