30.6后面的东西不晓得咋出来的,下面T2后面本来是通过按键设定数值的,现在也不行了,是不是定时中断哪里出问题了 ,求大神指点指点。(这是主程序,问题就这这里面就是不晓得在哪里)
- #include <reg52.h>
- #include<stdlib.h>
- #include<intrins.h>
- sbit RELAY = P2^4; //定义继电器对应单片机管脚
- bit flag1s = 0; //1s定时标志
- unsigned char T0RH = 0; //T0重载值的高字节
- unsigned char T0RL = 0; //T0重载值的低字节
- unsigned char T1RH = 0; //T0重载值的高字节
- unsigned char T1RL = 0; //T0重载值的低字节
- extern bit Start18B20();
- extern bit Get18B20Temp(int *temp);
- extern void InitLcd1602();
- extern void LcdShowStr(unsigned char *str);
- extern void LcdSetCursor(unsigned char addr);
- extern void LcdWriteDat(unsigned char dat);
- extern void LcdWriteCmd(unsigned char del);
- extern void keyscan();
- extern unsigned char key,flag1;
- unsigned char a[7];
- /**********************/
- struct _pid{
- float SV;//用户设定温度
- float PV; //测量温度
- float KP; //比例常数
- float T; //PID计算周期--采样周期
- float TI; //积分常数
- float TD; //微分常数
- float EK; //本次偏差
- float EK_1;//上次偏差
- float SEK; //历史偏差之和
- float IOUT;//积分输出
- float POUT; //比例输出
- float DOUT;//微分输出
- float OUT0;
- float OUT;
- unsigned int C10ms;
- unsigned char pwmcycle;//pwm周期
- }PID;
- /********************************************/
- void pid_init()
- {
- PID.KP=20;
- PID.T=1000;
- PID.TI=5000;
- PID.TD=1200;
- PID.pwmcycle=1000;//PWM的周期
- }
- /***********************************************/
- void ConfigTimer0(unsigned int ms);
- void ConfigTimer1(unsigned int ms1);
- void pid_calc(); //PID计算
- void pid_out(); //PID输出结果到负载
- void main()
- {
- unsigned char m;
- unsigned char i,e=0;
- unsigned char IntToString(unsigned char *str, int dat);
- unsigned char code table[]={'0','1','2','3','4','5','6','7','8','9', '.','-',':',' ','=','.'};
- bit res;
- int temp; //读取到的当前温度值
- int intT, decT; //温度值的整数和小数部分
- unsigned char len;
- unsigned char str[5];
- unsigned char stt[16] = {"T1:"};
- unsigned char sty[16] = {"T2:"};
-
- EA = 1; //开总中断
- ConfigTimer0(10); //T0定时10ms
- ConfigTimer1(1); //T1定时1ms
- Start18B20(); //启动DS18B20
- InitLcd1602(); //初始化液晶
- pid_init() ;
- LcdWriteCmd(0x0C); //关闭光标闪烁
- /*实时温度*/
- while(1)
- {
- /*显示实时温度标识"T1:"*/
- LcdSetCursor(0x00);
- m = 0;
- while(stt[m] != '\0')
- {
- LcdWriteDat(stt[m]);
- m++;
- }
- /*显示设定温度标识"T2:"*/
- LcdSetCursor(0x40);
- m = 0;
- while(sty[m] != '\0')
- {
- LcdWriteDat(sty[m]);
- m++;
- }
- if (flag1s) //每秒更新一次温度
- {
- flag1s = 0;
- res = Get18B20Temp(&temp); //读取当前温度
- if (res) //读取成功时,刷新当前温度显示
- {
- intT = temp >> 4; //分离出温度值整数部分
- decT = temp & 0xF; //分离出温度值小数部分
- len = IntToString(str, intT); //整数部分转换为字符串
- str[len++] = '.'; //添加小数点
- decT = (decT*10) / 16; //二进制的小数部分转换为1位十进制位
- str[len++] = decT + '0'; //十进制小数位再转换为ASCII字符
- LcdShowStr(str); //显示到液晶屏上
- Start18B20();
- PID.PV=atof(str);
- }
- }
- /*设定温度*/
- keyscan();
- if(flag1==1)
- {
- if(key<11) //10以下是数字显示部分
- {
- LcdSetCursor(0x43+e++) ;
- LcdWriteDat(table[key]);
- a[i]=table[key];
- i++;
- PID.SV=atof(&a);
-
- }
- else if(key==11)
- {
- LcdWriteCmd(0x01) ; //删除设定值
- e=0;
- for(i=0;i<7;i++)
- {
- a[i]='0';
- }
- }
- flag1=0; //键盘检测标志置0进行下一次检测
- }
- pid_calc();
- }
- }
- /* 整型数转换为字符串,str-字符串指针,dat-待转换数,返回值-字符串长度 */
- unsigned char IntToString(unsigned char *str, int dat)
- {
- signed char i = 0;
- unsigned char len = 0;
- unsigned char buf[6];
- if (dat < 0) //如果为负数,首先取绝对值,并在指针上添加负号
- {
- dat = -dat;
- *str++ = '-';
- len++;
- }
- do
- { //先转换为低位在前的十进制数组
- buf[i++] = dat % 10;
- dat /= 10;
- } while (dat > 0);
- len += i; //i最后的值就是有效字符的个数
- while (i-- > 0) //将数组值转换为ASCII码反向拷贝到接收指针上
- {
- *str++ = buf[i] + '0';
- }
- *str = '\0'; //添加字符串结束符
- return len; //返回字符串长度
- }
- /* 配置并启动T0,ms-T0定时时间 10ms*/
- void ConfigTimer0(unsigned int ms)
- {
- unsigned long tmp; //临时变量
- tmp = 11059200 / 12; //定时器计数频率
- tmp = (tmp * ms) / 1000; //计算所需的计数值
- tmp = 65536 - tmp; //计算定时器重载值
- tmp = tmp + 12; //补偿中断响应延时造成的误差
- T0RH = (unsigned char)(tmp>>8); //定时器重载值拆分为高低字节
- T0RL = (unsigned char)tmp;
- TMOD &= 0xF0; //清零T0的控制位
- TMOD |= 0x01; //配置T0为模式1
- TH0 = T0RH; //加载T0重载值
- TL0 = T0RL;
- ET0 = 1; //使能T0中断
- TR0 = 1; //启动T0
- }
- /* T0中断服务函数,10ms一次,完成1秒定时 */
- void InterruptTimer0() interrupt 1
- {
- static unsigned char tmr1s = 0;
- TH0 = T0RH; //重新加载重载值
- TL0 = T0RL;
- tmr1s++;
- PID.C10ms++;
- if (tmr1s >= 100) //定时1s
- {
- tmr1s = 0;
- flag1s = 1;
- }
- }
- /* 配置并启动T1,ms-T1定时时间1ms */
- void ConfigTimer1(unsigned int ms1)
- {
- unsigned long tmp1; //临时变量
- tmp1 = 11059200 / 12; //定时器计数频率
- tmp1 = (tmp1 * ms1) / 1000; //计算所需的计数值
- tmp1 = 65536 - tmp1; //计算定时器重载值
- tmp1 = tmp1 + 12; //补偿中断响应延时造成的误差
- T1RH = (unsigned char)(tmp1>>8); //定时器重载值拆分为高低字节
- T1RL = (unsigned char)tmp1;
- TMOD &= 0xF0; //清零T1的控制位
- TMOD |= 0x01; //配置T1为模式1
- TH1 = T1RH; //加载T1重载值
- TL1 = T1RL;
- ET1 = 1; //使能T1中断
- TR1 = 1; //启动T1
- }
- /* T1中 断服务函数,1ms一次 */
- void InterruptTimer1() interrupt 3
- {
- TH1 = T1RH; //重新加载重载值
- TL1 = T1RL;
- // PID.C10ms++;
- pid_out(); //输出PID运算结果到负载
- }
- void pid_calc()
- {
- float DELEK;
- float ti;
- float ki;
- float td;
- float kd;
- float out;
- if(PID.C10ms<(PID.T/10))
- {return;}
- PID.EK=PID.SV-PID.PV; //当前偏差
- PID.POUT=PID.KP*PID.EK;//比例输出
- PID.SEK+=PID.EK; //历史偏差
- DELEK=PID.EK-PID.EK_1;//最近两次偏差之差
- ti=PID.T/PID.TI;
- ki=ti*PID.KP;
- PID.IOUT=ki*PID.SEK*PID.KP; //积分输出
- td=PID.TD/PID.T;
- kd=PID.KP*td;
- PID.DOUT=kd*DELEK;
- PID.OUT=PID.POUT+PID.IOUT+PID.DOUT+PID.OUT0;//计算结果
- if(PID.OUT>PID.pwmcycle)
- {PID.OUT=PID.pwmcycle;}
- if(PID.OUT<0)
- {PID.OUT=0;}
- PID.OUT=out;
- PID.EK_1=PID.EK;//更新偏差
- PID.C10ms=0;
- }
- void pid_out() //每一毫秒运算一次
- {
- static unsigned char pw;
- pw++;
- if(pw>PID.pwmcycle) //pw=0-999
- {pw=0;}
- if(pw<PID.OUT)
- {
- RELAY=0;//加热
- }
- else
- {
- RELAY=1;//停止加热
- }
- }
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