AVR

AVR Урок 14. ПИД часть 1.

#include <math.h>
#include <mega328p.h>
#include <delay.h>
#include <stdio.h>

#define FIRST_ADC_INPUT 0
#define LAST_ADC_INPUT 0
unsigned int adc_data[LAST_ADC_INPUT-FIRST_ADC_INPUT+1];
#define ADC_VREF_TYPE ((0<<REFS1) | (1<<REFS0) | (0<<ADLAR))

interrupt [ADC_INT] void adc_isr(void)
{
static unsigned char input_index=0;
adc_data[input_index]=ADCW;
if (++input_index > (LAST_ADC_INPUT-FIRST_ADC_INPUT))
   input_index=0;
ADMUX=(FIRST_ADC_INPUT | ADC_VREF_TYPE)+input_index;
delay_us(10);
ADCSRA|=(1<<ADSC);
}

void main(void)
{

float y = 0.00001;
float i = 0.00001;
int K = 1, T = 100;

#pragma optsize-
CLKPR=(1<<CLKPCE);
CLKPR=(0<<CLKPCE) | (0<<CLKPS3) | (0<<CLKPS2) | (0<<CLKPS1) | (0<<CLKPS0);
#ifdef _OPTIMIZE_SIZE_
#pragma optsize+
#endif

DDRB=(0<<DDB7) | (0<<DDB6) | (0<<DDB5) | (0<<DDB4) | (0<<DDB3) | (0<<DDB2) | (1<<DDB1) | (0<<DDB0);
PORTB=(0<<PORTB7) | (0<<PORTB6) | (0<<PORTB5) | (0<<PORTB4) | (0<<PORTB3) | (0<<PORTB2) | (0<<PORTB1) | (0<<PORTB0);

TCCR1A=(1<<COM1A1) | (0<<COM1A0) | (0<<COM1B1) | (0<<COM1B0) | (1<<WGM11) | (1<<WGM10);
TCCR1B=(0<<ICNC1) | (0<<ICES1) | (0<<WGM13) | (0<<WGM12) | (0<<CS12) | (0<<CS11) | (1<<CS10);
TCNT1H=0x00;
TCNT1L=0x00;
ICR1H=0x00;
ICR1L=0x00;
OCR1AH=0x00;
OCR1AL=0x00;
OCR1BH=0x00;
OCR1BL=0x00;

DIDR0=(0<<ADC5D) | (0<<ADC4D) | (0<<ADC3D) | (0<<ADC2D) | (0<<ADC1D) | (0<<ADC0D);
ADMUX=FIRST_ADC_INPUT | ADC_VREF_TYPE;
ADCSRA=(1<<ADEN) | (1<<ADSC) | (0<<ADATE) | (0<<ADIF) | (1<<ADIE) | (0<<ADPS2) | (1<<ADPS1) | (1<<ADPS0);
ADCSRB=(0<<ADTS2) | (0<<ADTS1) | (0<<ADTS0);

#asm("sei")
while (1)
      {
      y = (float)adc_data[0] * K * (1 - exp(-i/(float)T));    
      if (y <= 255.999) OCR1AL = (int)y;
      if((y  > 255.999) && (y <= 511.999))  {OCR1AL = (int)(y - 255.999); OCR1AH = 0x01;} 
      if((y  > 511.999) && (y <= 767.999))  {OCR1AL = (int)(y - 511.999); OCR1AH = 0x02;}
      if((y  > 767.999) && (y <= 1023.999)) {OCR1AL = (int)(y - 767.999); OCR1AH = 0x03;}
      if (y > 1023.999)                     {OCR1AL = 0xFF; OCR1AH = 0x03;} 
      if(i < (float)T*100.0)i += 0.5;
      }
}

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