step.rar_BLDC电机控制_bldc 仿真_bldc proteus_bldc仿真_无刷电机proteus

#include <iom88v.h> #include <macros.h> #define SET_SP 100 unsigned char data; unsigned int duty; int adc_value; int error=0; int integral=0; int kp=1638; int ki=327; long temp=0; void delay_ms(unsigned int count) { unsigned int i,j; for(i=0;i<count;i++) { for(j=0;j<1000;j++) NOP(); } } void port_init(void) { PORTB=0x00; DDRB=0xff; PORTC=0x28; DDRC=0x28; } void adc_init(void) { ADMUX=0x44; ADCSRA|=((1<<ADEN)|(1<<ADSC)|(1<<ADIE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0));//AD初始化 } void timer0_init(void) { TCCR0B|=((1<<CS02)|(1<<CS00)); TCNT0=0x63; TIMSK0|=(1<<TOIE0); } void timer1_init(void) { TCCR1B=0x00; TCNT1H=0x00; TCNT1L=0x00; OCR1AH=0x00; OCR1AL=0x00; //ICR1H=0x06; ICR1H=0x1f; ICR1L=0x3f; TCCR1A=0x82; TCCR1B=0x19; } #pragma interrupt_handler t0_isr:17 void t0_isr() { static unsigned char count=0; TCNT0=0x63; count++; if(count>=50) { count=0; ADCSRA|=(1<<ADSC); } } #pragma interrupt_handler adc_isr:22 void adc_isr() { adc_value=ADCL; adc_value|=((unsigned int)ADCH<<8); if(adc_value>=SET_SP) { duty-=20; if(duty<=200) { duty=200; } } else { duty+=20; if(duty>=1000) { duty=1000; } } /*if(adc_value>SET_SP) { error=adc_value-SET_SP; integral-=error; temp=(long)kp*(long)error+(long)ki*(long)integral; temp>>=15; duty-=(unsigned int)temp; } else { error=SET_SP-adc_value; integral+=error; temp=(long)kp*(long)error+(long)ki*(long)integral; temp>>=15; duty+=(unsigned int)temp; }*/ /*error=SET_SP-adc_value; integral+=error; temp=(long)kp*(long)error+(long)ki*(long)integral; temp>>=15; duty+=(unsigned int)temp; if(duty>=4000) { duty=4000; }*/ OCR1AH=duty/256; OCR1AL=duty%256; //ADCSRA|=(1<<ADSC); } void main(void) { unsigned char data_last=0x00; CLI(); port_init(); adc_init(); timer0_init(); timer1_init(); SEI(); while(1) { data=(PINC&0x07); switch(data) { case 0x04:PORTB|=(1<<0); PORTB|=(1<<5); PORTB&=~(1<<2); PORTB&=~(1<<3); PORTB&=~(1<<4); PORTC&=~(1<<5); break; case 0x05:PORTB|=(1<<0); PORTC|=(1<<5); PORTB&=~(1<<2); PORTB&=~(1<<3); PORTB&=~(1<<4); PORTB&=~(1<<5); break; case 0x01:PORTB|=(1<<2); PORTC|=(1<<5); PORTB&=~(1<<0); PORTB&=~(1<<3); PORTB&=~(1<<4); PORTB&=~(1<<5); break; case 0x03:PORTB|=(1<<2); PORTB|=(1<<4); PORTB&=~(1<<0); PORTB&=~(1<<3); PORTB&=~(1<<5); PORTC&=~(1<<5); break; case 0x02:PORTB|=(1<<3); PORTB|=(1<<4); PORTB&=~(1<<0); PORTB&=~(1<<2); PORTB&=~(1<<5); PORTC&=~(1<<5); break; case 0x06:PORTB|=(1<<3); PORTB|=(1<<5); PORTB&=~(1<<0); PORTB&=~(1<<2); PORTB&=~(1<<4); PORTC&=~(1<<5); break; } } }