C語言風扇

『壹』 單片機控制風扇調速 具體點最好有源碼就好

#include <iom16v.h>
#include <macros.h>
#define OVER_TEMPERATURE 0x01
#define LOW_LIGHT 0X02
#define HIGH_LIGHT 0X03

#define THIS_NODE 0x12
#define CENTRAL_SITE 0x18
#define LIGHT_NODE 0x11

#define OBJ 90

/*#define KP 15
#define KI 1
#define KD 20
#define P (KP + KI + KD)
#define I (KP + 2 * KD)
#define D KD*/

typedef unsigned char uchar;
typedef unsigned int uint;

uint KP = 5;
uchar dKP = 1;
uint KI = 1;
uchar dKI = 2;
uint KD = 3;
uchar dKD = 1;

uchar table[10] = {0xf3, 0x50, 0xcb, 0xd9, 0x78, 0xb9, 0xbb, 0xd0, 0xfb, 0xf9};
uchar node[7] = {0x00, 0x0d, 0x6f, 0x00, 0x0c, 0x08, 0x09};
uchar rcv_buf[4] = {0, 0, 0, 0};
uchar command = 0;
uchar uart_flag = 0;

uchar sec = 0;
uchar minute = 0;
uchar hour = 0;
uchar wakeup = 1;

uchar key_down[4] = {0, 0, 0, 0};
uchar key_up[4] = {0, 0, 0, 0};
uchar pre_key = 0;
uchar cur_key = 0;
uchar key_chg = 0;

uchar time_chg = 0;
uchar key_timer = 0;
uchar uart_isr = 0;

typedef struct _PID{
uint set_point;

uint B;

int ek[3];
int ek_flag[3];

uint uk;
}PID;
PID sPID;

int abs(int num)
{
return ((num>0)?(num):(-num));
}
int delta_PID(PID *pp, int next_point)//增量法
{
int error;

error = pp->set_point - next_point;

pp->ek[2] = pp->ek[1];
pp->ek[1] = pp->ek[0];
pp->ek[0] = error;

return (KP*pp->ek[0] - KI*pp->ek[1] + KD*pp->ek[2]);
}
void PIDproc(PID *pp, int next_point) //帶死區控制以及抗積分飽和的PID
{
uint tmp[3] = {0, 0, 0};
uint PosSum = 0;
uint NegSum = 0;
uchar gain = 1;

if(pp->set_point > next_point){
tmp[0] = pp->set_point - next_point;//ek0
if(tmp[0] > pp->B){
pp->ek[2] = pp->ek[1];
pp->ek[1] = pp->ek[0];
pp->ek[0] = tmp[0];

pp->ek_flag[2] = pp->ek_flag[1];
pp->ek_flag[1] = pp->ek_flag[0];
pp->ek_flag[0] = 0; //當前EK為正數
tmp[0] = KP * pp->ek[0] / dKP + KI * pp->ek[0] / dKI + KD * pp->ek[0] / dKD; // KP*EK0
tmp[1] = KP * pp->ek[1] / dKP + 2 * KD * pp->ek[1] / dKD; // KI*EK1
tmp[2] = KD * pp->ek[2] / dKD; // KD*EK2
}
}
else{ //反饋大於給定
tmp[0] = next_point - pp->set_point;//ek0
if(tmp[0] > pp->B){
//數值移位
pp->ek[2] = pp->ek[1];
pp->ek[1] = pp->ek[0];
pp->ek[0] = tmp[0];
//符號移位
pp->ek_flag[2] = pp->ek_flag[1];
pp->ek_flag[1] = pp->ek_flag[0];
pp->ek_flag[0] = 1; //當前EK為負數
tmp[0] = KP * pp->ek[0] / dKP + KI * pp->ek[0] / dKI + KD * pp->ek[0] / dKD; // KP*EK0
tmp[1] = KP * pp->ek[1] / dKP + 2 * KD * pp->ek[1] / dKD; // KI*EK1
tmp[2] = KD * pp->ek[2] / dKD; // KD*EK2
}
}
/*以下部分代碼是講所有的正數項疊加，負數項疊加*/
if(pp->ek_flag[0]==0){
PosSum += tmp[0]; //正數和
}
else{
NegSum += tmp[0]; //負數和
} // KP*EK0
if(pp->ek_flag[1]!=0){
PosSum += tmp[1]; //正數和
}
else{
NegSum += tmp[1]; //負數和
} // - kI * EK1
if(pp->ek_flag[2]==0){
PosSum += tmp[2]; //正數和
}
else{
NegSum += tmp[2]; //負數和
} // KD * EK2
PosSum += pp->uk; //

if(PosSum > NegSum){ // 是否控制量為正數
tmp[0] = PosSum - NegSum;
tmp[0] *= gain;
if( tmp[0] < (uint)65000){ //小於限幅值則為計算值輸出
pp->uk = tmp[0];
}
else{
pp->uk = (uint)65000; //否則為限幅值輸出
}
}
else{ //控制量輸出為負數，則輸出0
pp->uk = 0;
}
}
void PID_init(PID* pp)
{
pp->set_point = OBJ;

pp->B = 0;

pp->ek[0] = 0;
pp->ek[1] = 0;
pp->ek[2] = 0;

pp->ek_flag[0] = 0;
pp->ek_flag[1] = 0;
pp->ek_flag[2] = 0;

pp->uk = 0;
}

void delay(int n)
{
int i = 0, j = 0;
for(i = 0; i < n; i++)
for(j = 0; j < 1000; j++);
}
void disp(int a)
{
uchar flag = 0;
PORTC = 0X01;
PORTB = table[a / 1000];
delay(3);
PORTB = 0X00;

PORTC = 0X02;
PORTB = table[a / 100 % 10];
delay(3);
PORTB = 0X00;

PORTC = 0X04;
PORTB = table[a / 10 % 10];
delay(3);
PORTB = 0X00;

PORTC = 0X08;
PORTB = table[a % 10];
delay(3);
PORTB = 0X00;
}
void delay_on(int n, uchar cur_val)
{
int i = 0, j = 0;
for(i = 0; i < n; i++)
for(j = 0; j < 30; j++)
disp(cur_val);
}
void uart0_init(void)
{
UCSRB = 0x00; //disable while setting baud rate
UCSRA = 0x00;
UCSRC = 0x06;//BIT(URSEL) | 0x06;
UBRRL = 0x0b; //set baud rate lo 0x03:115.2k,0x17:19200,0x0b:38400
UBRRH = 0x00; //set baud rate hi
UCSRB = 0x98;
}
// 數據發送【發送5 到8 位數據位的幀】
void USART_Transmit( unsigned char data )
{
while ( !( UCSRA & (1<<UDRE)));
UDR = data;
}
// 數據接收【以5 到8 個數據位的方式接收數 據幀】
unsigned char USART_Receive( void )
{
while (!(UCSRA & (1<<RXC)));
return UDR;
}
void USART_TranStr(uchar data[], uchar n)
{
uchar i = 0;
for(i = 0; i < n; i++)
{
USART_Transmit(data[i]);
}
}
#pragma interrupt_handler uart_rx_isr:iv_USART_RX
void uart_rx_isr(void)
{
uchar i;
for(i = 0; i < 4; i++)
{
rcv_buf[i] = USART_Receive();
}
uart_flag = 1;
}
void scankey(void)
{
uchar tmp = 0;

DDRD &= ~0X04;
DDRC = (DDRC & 0X0F) | 0XC0;
PORTD |= 0X04;

PORTC = (PORTC & 0X0F) | 0X70;
delay(2);
tmp = PINC;
if((~tmp & 0x30) != 0)
delay(2);
tmp = PINC;

if((~tmp) & (1 << 4)){
key_timer = 0;
cur_key = 2;//test
return;
}
if((~tmp) & (1 << 5)){
key_timer = 0;
cur_key = 1;//up
return;
}

PORTC = (PORTC & 0X0F) | 0Xb0;
delay(2);
tmp = PINC;
if((~tmp & 0x30) != 0)
delay(2);
tmp = PINC;

if((~tmp) & (1 << 4)){
key_timer = 0;
cur_key = 4;//switch
return;
}
if((~tmp) & (1 << 5)){
key_timer = 0;
cur_key = 3;//time
return;
}
cur_key = 0;
}
void decidekey(void)
{
if(cur_key==0 && pre_key != 0)
{
key_up[pre_key - 1] = 1;
key_chg = 1;
}
else if(cur_key!=0 && pre_key==0)
{
key_down[cur_key - 1] = 1;
key_chg = 1;
}
else
{
key_chg = 0;
}
pre_key = cur_key;
}
void port_init(void)
{
DDRB = 0xFF;
PORTB = 0X00;

DDRC |= 0X0F;
PORTC = 0X00;

DDRA |= 0X30;
PORTA &= ~0X30;
}
void sendto(uchar no, uchar data[], uchar n)
{
USART_TranStr(node, 7);
USART_Transmit(no);
USART_TranStr(data, n);
}
void zigbeeReset(void)
{
USART_TranStr("AT+RESET", 8);
}
void zigbeeSleep(uchar TH, uchar TL)
{
uchar sleep[] = {"AT+SLEEP="};
USART_TranStr(sleep, 9);
USART_Transmit(TH);
USART_Transmit(TL);
}
void setrelay(uchar op)
{
uchar setRelay[] = {"AT+SETRELAY="};
USART_TranStr(setRelay, 12);
USART_Transmit(op);
}
void timer1_init(void)
{
TCCR1A = 0xa2; //兩路PWM，匹配清零
TCCR1B = 0x19; //快速PWM模式，位數可調，預分頻1

ICR1 = 0xFFFF;
//計數上限值，此數為16位PWM，此值的多少決定PWM的位數,改變值可以改變時鍾的輸入頻率
//在1M時鍾下，OCR1A，OCR1B=1M/65536=15HZ。改為7FFF時，為30HZ，ICR1變小，OCR1A，B成比例變大
}
void main()
{
uchar data[] = {0x01};
uchar time[] = {0x03, 21, 14, 55};
uchar send_buf[] = {0x05, 0x01, 0x00, 0x00};
uchar oldcomm[] = {0x00};
uchar flag = 0;
uchar light_obj = 500;

int a = 0;

uint PID_out = 0;
uint pre_PID_out = 0;
int delta_PID_out = 0;
int PID_in = 0;
int disp_num = 0;
CLI();
PID_init(&sPID);

uart0_init();
timer1_init();
MCUCR = 0x00;
GICR = 0x00;
OCR1A = a;
//OCR1B=a; //匹配初值

DDRA |= 0X20;
PORTA = 0X00;
DDRD |= 0XF8;
PORTD &= ~0XF8;
port_init();
SEI();
delay(1000);
sendto(LIGHT_NODE, send_buf, 4);
while(1)
{
if(uart_flag == 1)
{
uart_flag = 0;

PID_in = 255 - rcv_buf[1];// * 4 - rcv_buf[2];

/*pre_PID_out = PID_out;
delta_PID_out = delta_PID(&sPID, PID_in);
PID_out += delta_PID_out;
OCR1A = PID_out;*/

PIDproc(&sPID, PID_in);
OCR1A = sPID.uk;

sendto(LIGHT_NODE, send_buf, 4);
}
scankey();
decidekey();
if(key_chg && key_up[0])
{
key_up[0] = 0;
sPID.set_point += 10;
sendto(LIGHT_NODE, send_buf, 4);
}
if(key_chg && key_up[1])
{
key_up[1] = 0;
sPID.set_point -= 10;
sendto(LIGHT_NODE, send_buf, 4);
}
if(key_chg && key_up[2])
{
key_up[2] = 0;
disp_num = 0;
}
if(key_chg && key_up[3])
{
key_up[3] = 0;
disp_num = 1;
}
(disp_num == 0)?disp(PID_in):disp(PID_out / 10);
}

}//這是PID調節光照的，你自己慢慢看看，道理差不多