PID.rar_pid

#include "DSP281x_Device.h" // DSP281x Headerfile Include File #include "DSP281x_Examples.h" // DSP281x Examples Include File #include "ctr.h" #include "PID.h" #include "scancode.h" // Prototype statements for functions found within this file. interrupt void cpu_timer0_isr(void); #define LEDS *(int *)0xc0000 #define port8000 (*((unsigned int *)0x108000)) #define port8001 (*((unsigned int *)0x108001)) #define port8002 (*((unsigned int *)0x108002)) #define port8003 (*((unsigned int *)0x108003)) #define port8004 (*((unsigned int *)0x108004)) #define port8007 (*((unsigned int *)0x108007)) void Gpio_select(void); void Gpio_PortB(void); void ShowParameters(); void LCDPutString(unsigned int *pData,int x,int y,unsigned int nCharNumber,unsigned color); void PIDControl(int rk,int yk); char ConvertScanToChar(unsigned char cScanCode); Uint16 var1 = 0; Uint16 var2 = 0; Uint16 var3 = 0; Uint16 test_count = 0; Uint16 Test_flag = 0; Uint16 Test_var = 0; Uint16 Test_status[32]; int i=0,nnn; unsigned int nCount,nCount1,nCount2,nCount3,nJSSpeed,uWork,uN; unsigned int uLBD; float a=0.6f,b=0.2f,c=0.1f,duk; int ek,ek1,ek2,tz; int nInput; int nSSS,pwm; int md,wc; unsigned int nScreenBuffer[1024]; void main(void) { unsigned int uPort8000; unsigned int nScanCode; unsigned char cKey; int speed[100],sp,lj; float ljh; char strInput[4]; int i,w1,w2,w3; uLBD=nnn=0; nCount=nCount1=nCount2=nCount3=nJSSpeed=0; for ( sp=0;sp<100;sp++ ) speed[sp]=0; sp=nSSS=nCount=nCount1=nCount2=nJSSpeed=0; cKey=0; nInput=tz=wc=0; ek=ek1=ek2=0; for ( uWork=0;uWork<4;uWork++ ) strInput[uWork]=0; uN=100; md=70; pwm=0; // Step 1. Initialize System Control: // PLL, WatchDog, enable Peripheral Clocks // This example function is found in the DSP281x_SysCtrl.c file. InitSysCtrl(); // Step 2. Initalize GPIO: // This example function is found in the DSP281x_Gpio.c file and // illustrates how to set the GPIO to it's default state. // InitGpio(); // Skipped for this example // Step 3. Clear all interrupts and initialize PIE vector table: // Disable CPU interrupts DINT; // Initialize the PIE control registers to their default state. // The default state is all PIE interrupts disabled and flags // are cleared. // This function is found in the DSP281x_PieCtrl.c file. InitPieCtrl(); // Disable CPU interrupts and clear all CPU interrupt flags: IER = 0x0000; IFR = 0x0000; // Initialize the PIE vector table with pointers to the shell Interrupt // Service Routines (ISR). // This will populate the entire table, even if the interrupt // is not used in this example. This is useful for debug purposes. // The shell ISR routines are found in DSP281x_DefaultIsr.c. // This function is found in DSP281x_PieVect.c. InitPieVectTable(); // Interrupts that are used in this example are re-mapped to // ISR functions found within this file. EALLOW; // This is needed to write to EALLOW protected registers PieVectTable.TINT0 = &cpu_timer0_isr; EDIS; // This is needed to disable write to EALLOW protected registers // Step 4. Initialize all the Device Peripherals: // This function is found in DSP281x_InitPeripherals.c // InitPeripherals(); // Not required for this example /////InitCpuTimers(); // For this example, only initialize the Cpu Timers CpuTimer0.RegsAddr = &CpuTimer0Regs; // Initialize timer period to maximum: CpuTimer0Regs.PRD.all = 3709*2; // Initialize pre-scale counter to divide by 1 (SYSCLKOUT): CpuTimer0Regs.TPR.all = 0; CpuTimer0Regs.TIM.all = 0; CpuTimer0Regs.TPRH.all = 0; // Make sure timer is stopped: CpuTimer0Regs.TCR.bit.TSS = 1; CpuTimer0Regs.TCR.bit.SOFT = 1; CpuTimer0Regs.TCR.bit.FREE = 1; // Reload all counter register with period value: CpuTimer0Regs.TCR.bit.TRB = 1; CpuTimer0Regs.TCR.bit.TIE = 1; // Reset interrupt counters: CpuTimer0.InterruptCount = 0; StartCpuTimer0(); // Step 5. User specific code, enable interrupts: // Enable CPU INT1 which is connected to CPU-Timer 0: IER |= M_INT1; // Enable TINT0 in the PIE: Group 1 interrupt 7 PieCtrlRegs.PIEIER1.bit.INTx7 = 1; // Enable global Interrupts and higher priority real-time debug events: EINT; // Enable Global interrupt INTM ERTM; // Enable Global realtime interrupt DBGM Gpio_PortB(); *(int *)0x108000=0; // 初始化ICETEK-CTR *(int *)0x108000=0x80; *(int *)0x108000=0; *(int *)0x108007=0; // 关闭东西方向的交通灯 *(int *)0x108007=0x40; // 关闭南北方向的交通灯 uPort8000=*(int *)0x108002; // 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 *(int *)0x108007=0x0c4; while ( 1 ) { if ( nCount==0 ) // 读取键盘标志 { nScanCode=port8001; // 读扫描码 nScanCode&=0x0ff; // 低8位 if ( nScanCode!=0 ) { uWork=port8002; // 清除键盘缓冲区 if ( nScanCode==SCANCODE_Num ) 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,104,15,1,1); LCDPutString(numbers,112,15,1,1); LCDPutString(numbers,120,15,1,1); LCDRefreshScreen(); } 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 ( nJSSpeed==0 ) // 读取速度标志 { nJSSpeed=0; nSSS=port8003; // 从端口读取速度计数 nSSS&=0x0ff; if ( nSSS>=0 && nSSS<100 ) // 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]<150 ) { 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-pwm; // 利用占空比调整控制 ShowParameters(); // 显示各参数值到LCD } } } } } // 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; pwm+=tz; // 计算当前占空比 if ( pwm<0 ) pwm=0; else if ( pwm>99 ) pwm=99; } #define Hz200 100 #define Hz1 20000 interrupt void cpu_timer0_isr(void) { PieCtrlRegs.PIEACK.all = PIEACK_GROUP1; CpuTimer0Regs.TCR.bit.TIF = 1; CpuTimer0Regs.TCR.bit.TRB = 1; nCount1++; nCount1%=Hz200; GpioDataRegs.GPBDAT.bit.GPIOB4=( nCount1>uN )?1:0; if ( nCount2==0 ) { GpioDataRegs.GPBDAT.bit.GPIOB5=nnn; nnn=1-nnn; } nCount2++; nCount2%=Hz1; nJSSpeed++; nJSSpeed%=12000; // 读取速度标志 nCount++; nCount%=51200; } void Gpio_select(void) { EALLOW; GpioMuxRegs.GPAMUX.all=var1; // Configure MUXs as