Cần nhờ lập trình điều khiển động cơ DC pic 16f877a ( công xá đầy đủ )

[phamcongsang]

code của mình:
#include <16f877a.h>
//#include <def_877a.h>
#fuses hs, nolvp, nowdt, noput, noprotect
#include <math.h> //dung cac ham toan hoc
//#device *=16 ADC=10
#use delay(clock=20000000)
#define LCD_ENABLE_PIN PIN_C7
#define LCD_RS_PIN PIN_C5
#define LCD_RW_PIN PIN_C6
#define LCD_DATA4 PIN_D4
#define LCD_DATA5 PIN_D5
#define LCD_DATA6 PIN_D6
#define LCD_DATA7 PIN_D7
#include <LCD.C>
#use fast_io(a)
#use fast_io(b)
#use fast_io(c)
#use fast_io(d)

//==================khai bao ham con=============
int quetphim(); //khai bao ham quet phim
int checkphim(b); //khai bao ham check phim
void pwm(); //khai bao ham tao xung PWM
void ghi_tocdo(); //khai bao ham ghi toc do dong co
void ghi_thoigian(); //khai bao ham ghi thoi gian
void clear(); //khai bao ham xoa cac thiet lap truoc do, tro ve trang thai dau
void read_rom(); //Khai bao ham doc du lieu tu eeprom

//==================khai bao bien su dung trong chuong trinh ================
int8 i,t,a,b,c,d,sttphim,duty,ct,l,m; //bien nguyen 8bit 0-255
int16 s_xung,s_vong,setpoint,error,luu,tg,tg1,dem; //bien nguyen 16bit 0-65535

//================ bien luu eeprom==============
int8 e0,e1,e2,e3,j,k;
int16 e;

//================chuong trinh quet phim==========
//quet phim so
int quetphim() //su dung cau truc: int ten_chuong_trinh(){} de thuc hien quet phim, lan luot cho RB4, RB5, RB6, RB7=0 và ung voi moi gia tri do kiem tra trang thai tren cac chan dau vao RA0, RA1,RA2, RA3
{
output_b(0xe0);// B4=0 - dua tin hieu dien 0V vao hang thu nhat, kiem tra xem phim nao duoc nhan bang ham checkphim(b);
a=0; //cho a=0 là có muc dich.. lien quan dem ham checkphim(b) trong ham checkphim(b) gia tri cua a duoc thay doi, nhu vay neu qua trinh phat hien ra phim duoc nhan thi se thay doi a, neu khong thi a van bang 0 va ko co gia tri nao duoc tra ve
b=1; //gia tri cua b lien quan den ham checkphim(b).. cau lenh while(b), do do nhat thiet phai dat gia tri ban dau cho b thi ham checkphim(b) moi duoc thuc hien
checkphim(b); //goi ham kiem tra phim nhan, neu co phim duoc nhan thi ham checkphim se gan gia tri cho a (a=1) va tiep tuc thuc hien lenh tiep theo tra ve gia tri bien sttphim
if (a!=0)
{delay_ms(200);
return (sttphim);}
output_b(0xd0);// B5=0
a=0;
b=2;
checkphim(b);
if (a!=0)
{delay_ms(200);
return (sttphim);}
output_b(0xb0);// B6=0
a=0;
b=3;
checkphim(b);
if (a!=0)
{delay_ms(200);
return (sttphim);}
output_b(0x70);// B7=0
a=0;
b=4;
checkphim(b);
if (a!=0)
{delay_ms(200);
return (sttphim);}}

//============chuong trinh check phim=============
int checkphim(b) //ham kiem tra phim duoc nhan
{
switch (b) //cau lenh re nhanh- lan luot gan b=1,2,3,4 (ham quet phim) de kiem tra xem co phim nao duoc nhan khi quet lan luot tung hang
{
case 1: //neu b=1 thi thuc hien chuong trinh duoi
if(!input(pin_a0)) //kiem tra xem neu chan dau vao RA0=0 thi thuc hien chuong trinh duoi (do ta thiet lap phan cung nen phai dung nghich dao PIN_A0)
{sttphim=1; //gan cho bien sttphim gia tri bang 1
a=1;} //gan gia tri cho a=1
else if(!input(pin_a1)) //neu chan RA0!=0 tuc la phim1 khong duoc nhan, tiep tuc kiem tra chan RA1, neu RA1=0 thi thuc hien chuong trinh duoi
{sttphim=2;
a=1;}
else if(!input(pin_a2)) //neu chan RA1!=0 tuc la phim 2 khong duoc nhan, tiep tuc kiem tra chan RA2
{sttphim=3;
a=1;}
else if(!input(pin_a3)) //neu chan RA2!0 tuc la phim 3 khong duoc nhan tiep tuc kiem tra chan RA3
{ sttphim=10;//thuan
a=1;}
else {}
break;

case 2:
if(!input(pin_a0))
{sttphim=4;
a=1;}
else if(!input(pin_a1))
{sttphim=5;
a=1;}
else if(!input(pin_a2))
{sttphim=6;
a=1;}
else if(!input(pin_a3))
{sttphim=11;//nghich
a=1;}
else {}
break;
case 3:
if(!input(pin_a0))
{sttphim=7;
a=1;}
else if(!input(pin_a1))
{sttphim=8;
a=1;}
else if(!input(pin_a2))
{sttphim=9;
a=1;}
else if(!input(pin_a3))
{sttphim=12;//stop
a=1;}
else {}
break;

case 4:
if(!input(pin_a0))
{sttphim=0;//0
a=1;}
else if(!input(pin_a1))
{sttphim=15;//save
a=1;}
else if(!input(pin_a2))
{sttphim=14;//clear
a=1;}
else if(!input(pin_a3))
{sttphim=13;//set
a=1;}
else {}
break;}
return (sttphim);
}


////////////////////////////// chuong trinh nhan xung tu encoder//////////////////////////////////////////////
///////////////////////////// ngat ngoai, nhan xung tu encoder///////////////////////////////////////////////
#int_ext //khai bao su dung ngat ngoai nhan xung tren chan RB0
void RB0_isr()
{
s_xung++;//dem so xung o chan RB0
}

///////////////////////////////ngat timer1, tinh toan pwm va hien thi/////////////////////////////////////////
#int_timer1
void timer1_isr()
{
set_timer1(-62500); //thiet lap gia tri ban dau cho bo dem timer1 la -62500
if (t==5){ //kiem tra gia tri bien t, neu t=5 thi tinh so vong thong qua bien s_xung, xoa man hinh LCD, tiep tuc kiem tra bien ct
S_vong=s_xung*2; //xung tren phut
//ht
lcd_gotoxy(1,1);
printf(lcd_putc," ");
if(ct==1) //neu bien ct=1 thi xuat ra man hinh LCD gia tri cua bien "luu"
{
lcd_gotoxy(1,1);
printf(lcd_putc,"TD_dat=%lu v/p",luu);}
else { //neu kiem tra ma bien ct!=1 thi xuat ra man hinh gia tri bien "tg"
lcd_gotoxy(1,1);
printf(lcd_putc,"TG_dat=%lu s",tg);}
lcd_gotoxy(1,2);
printf(lcd_putc," ");
if (d==2) //kiem tra gia tri cua bien "d", neu d=2 thi xuat ra LCD (o hang 2) gia tri bien "s_vong" roi tiep tuc kiem tra gia tri bien "d"
{lcd_gotoxy(1,2);
printf(lcd_putc,"TD_tt=-%luv/p",s_vong);}
if (d==1) //kiem tra neu d=1 thi in ra man hinh LCD (o hang 2) gia tri bien "s_vong" dong thoi thuc hien cac lenh tiep theo
{lcd_gotoxy(1,2);
printf(lcd_putc,"TD_tt= %luv/p",s_vong);}
//=========================
//xuat pwm
pwm(); //thuc hien ham pwm();
//========================
s_xung=0; //gan cho bien s_xung=0;
s_vong=0; //gan cho bien s_vong=0;
t=0; //gan cho bien t=0
set_timer1(-62500);
}
else //neu d!=1, bat dau tang bien "t"
t++; //dat gia tri ban dau cho timer1 la -62500
set_timer1(-62500);
}
//ngat timer0, dat thoi gian
#int_timer0 //khai bao de su dung ham ngat timer0
void time0_irs() //ham ngat
{
set_timer0(-235); //gui den timer0 gia tri -235
if (dem>=tg1) //so sanh bien "dem" voi bien "tg1", neu bien dem lon hon hoac bang bien "tg1" thi thuc hien day lenh trong cap {}
{
output_high(pin_e0);//xuat dien ap 5V ra chan RE0
delay_us(100);
output_low(pin_e0);//xuat dien ap 0V ra chan RE0
dem=0; //cho gia tri bien dem tro ve gia tri 0, tang lai tu dau
if (d==1) //tiep tuc kiem tra gia tri bien d, neu d=1 thi gan cho d gia tri bang 2, d=2 (cho d nhay qua nhay lai)
{d=2;}
else if (d==2) //neu bien "d" khong phai bang 1 thi kiem tra xem no co bang 2 khong neu no bang 2 thi lai cho no nhay ve gia tri d=1
{d=1;}
else{} //neu d khong bang 2 thi dat lai gia tri ban dau cho timer0 la -235
set_timer0(-235);
}
else { //neu d cung khong bang 1 not thi thuc hien tang bien dem va dat gia tri ban dau cho timer0 la -235
dem++;
set_timer0(-235);}
}

/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////chuong trinh chinh///////////////////////////////////////////////////////////////////
void main()
{
i=0;
sttphim=0;
setpoint=0;tg=0;
duty=0;
c=0;
d=0;
ct=0;l=0;m=0;
e0=0;e1=0;e2=0;e3=0;e=0;k=0;
//================================================== ==========
//1:ngo vao;0: la ngo ra
set_tris_b(0b00001111);//4 chan RB4-RB7 xuat du lieu ra ban phim
set_tris_a(0b00001111);//4 chan RA0-RA3 nhan du lieu tu ban phim
set_tris_c(0b00000000);//2 chan RC0 va RC1 xuat PWM
set_tris_D(0b00000000);//port D la port xuat du lieu ra LCD
//================================================== ==========
setup_timer_1(T1_INTERNAL|T1_DIV_BY_8); //thiet lap timer1 su dung xung clock noi fosc/4, chia tan 1:8 (tan so 20Mhz/4/8=0.625Mhz=>t=1.6s
/* timer1 la bo dinh thoi su dung xung noi,bo chia 1:8 thay doi moi 1600ns (1,6us)
Dung timer1 de ngat moi 0.1s do vay ta dat gia tri cho timer1 la :
0.1s/1600ns=62500(D)=F424(H) =>gia tri nap la FFFF-F424=BDB */
setup_timer_0(RTCC_INTERNAL|RTCC_DIV_256); //thiet lap timer0 su dung xung clock noi, chia tan 1:256 (tan so 20Mhz/4/256=0.019531Mhz=> t=51.2s
enable_interrupts(int_ext);//khoi dong ngat ngoai
ext_int_edge(H_TO_L); // xung tu cao xuong thap - chon xung canh xuong
enable_interrupts(global);// khoi dong bit ngat GIE - cho phep ngat toan cuc
setup_timer_2(T2_DIV_BY_4,249,1);
/*timer2 dung dinh thoi cho bo PWM
mode: bo chia thoi gian (prescale) cua timer2 1:4
period: gia tri nap cho thanh ghi PR2
postscale : bo chi ra,chon 1:1 PWM khong dung
Thach anh 20MHz, PWM fre: 10000Hz, thay doi duty cycle(%) de thay doi toc do*/
setup_ccp1(CCP_PWM);
setup_ccp2(CCP_PWM);
set_pwm1_duty(0); //value=0, pwm1=0, dong co dung
set_pwm2_duty(0); //value=0, pwm2=0, dong co dung
//================================================== =========
lcd_init(); //khoi tao LCD
lcd_send_byte(0,0x01);
lcd_gotoxy(1,1);
printf(lcd_putc,"CHUONG TRINH DK "); //xuat ra LCD (tren hai hang) dong chu "CHUONG TRINH DK TD DONG CO DC" trong vong 1s roi xoa man hinh LCD
lcd_gotoxy(1,2);
printf(lcd_putc," TD DONG CO DC ");
delay_ms(1000);
lcd_gotoxy(1,1);
printf(lcd_putc," ");
lcd_gotoxy(1,2);
printf(lcd_putc," ");
read_rom(); //Thuc hien lenh read_rom(); - tuc la doc du lieu tu bo nho ROM
lcd_gotoxy(1,1);
printf(lcd_putc,"CHON CHE DO :_ "); //Xuat ra LCD dong chu "CHON CHE DO :_
while (true) //vong lap vo tan
{
while (c==0) //kiem tra neu c=0 thi chuong trinh di vao vong lap vo tan
{
quetphim(); //thuc hien quet phim nhan xem phim nao duoc nhan, dua vao do de chon che do hoat dong là che do 1, hay che do 2
if (a!=0) //neu a=0 thi thuc hien lenh "if" tiep theo
{
if (sttphim==1) //neu phim duoc nhan la phim 1 thi cho bien ct=1,c=1; cac lenh tiep theo la cac lenh quet chon che do (chuong trinh) hoat dong
{ ct=1;
c=1;
lcd_gotoxy(1,1);
printf(lcd_putc,"CHON CHE DO :_%u",ct);} //neu chon che do 1 thi xuat ra man hinh "CHON CHE DO :_1"
if (sttphim==2) //Tiep tuc kiem tra neu phim duoc nhan la phim 2 thi cho ct=2, c=1,
{ ct=2;
c=1;
lcd_gotoxy(1,1);
printf(lcd_putc,"CHON CHE DO :_%u",ct);} //neu chon che do 2 (nhan phim 2) thi xuat ra man hinh "CHON CHE DO :_2"
}
}
if (ct==1) //kiem tra neu ct=1 thi thuc hien cac lenh in ra LCD nhu ben duoi
{lcd_gotoxy(1,1);
printf(lcd_putc,"TD_dat=_ v/p");
lcd_gotoxy(1,2);
printf(lcd_putc,"TD_luu=%lu v/p",e);}
else {
lcd_gotoxy(1,1);
printf(lcd_putc,"TD_dat=_ v/p");
lcd_gotoxy(1,2);
printf(lcd_putc,"TG_dat=_ s");}
While (c==1) //neu c=1 thi vao vong lap vo tan
{
quetphim(); //kiem tra xem phim nao duoc nhan

if (a!=0) //neu a!=0 thi tiep tuc kiem tra bang lenh if tiep theo
{
if (sttphim>=0 && sttphim<=9)//ban phim tu 0--->9 - neu phim duoc nhan la phim0-phim9
{
if (m==0) // kiem tra xem neu m=0 thi thuc hien ham ghi toc do
{ghi_tocdo();}
if((ct==2)&&(m==1)) // kiem tra xem nau ct=2 (dang o che do 2) va m=1 thi thuc hien ham ghi_thoigian();
{ghi_thoigian();}
}
if (sttphim==14) //kiem tra neu phim duoc nhan la phim 14 thi thuc hien lenh xoa clear();
{clear();}
if ((sttphim==13)&&(i==0)&&(e==0)) //kiem tra neu nhan phim 13, dong thoi i=0, e=0 thi thuc hien lenh ben duoi
{
lcd_gotoxy(1,1);
printf(lcd_putc," ");//xoa man hinh
lcd_gotoxy(1,1);
printf(lcd_putc,"Phai nhap TD_dat"); // in ra LCD dong nhac: "phai nhap TD_dat" trong vong 1s
delay_ms(1000);
lcd_gotoxy(1,1);
printf(lcd_putc," ");//xoa man hinh
lcd_gotoxy(1,1);
printf(lcd_putc,"TD_dat=_"); //in ra LCD dong lenh "TD_dat=_"
}
if ((sttphim==15)&&(i!=0)) //luu vao eeprom neu nhan phim 15 va gia tri i!=0
{
write_eeprom(0,e0);
delay_ms(100);
write_eeprom(1,e1);
delay_ms(100);
write_eeprom(2,e2);
delay_ms(100);
write_eeprom(3,e3);
delay_ms(100);
write_eeprom(4,i);
delay_ms(100);
lcd_gotoxy(1,2);
printf(lcd_putc," "); //xoa man hinh (dong2)
lcd_gotoxy(1,2);
printf(lcd_putc," LUU THANH CONG ");//in ra man hinh dong chu "LUU THANH CONG"
}
if ((sttphim==13)&&((i!=0)||(e!=0)))//Neu nhan phim 13 va gia tri i khac 0, e khac 0
{
if (ct==1)//kiem tra xem neu dang o che do 1 thi cho bien c=2
{
c=2;
if (e!=0 && i==0){
luu=e;}
if ((ct==2)&&(l>=2))
{
c=2;}
m=1;
}}}
while (c==2)
{
quetphim();
if(a!=0)
{
if(sttphim==10)
{
lcd_gotoxy(1,2);
printf(lcd_putc," ");
lcd_gotoxy(1,2);
printf(lcd_putc," QUAY THUAN ");
if (ct==2)
{enable_interrupts(int_timer0);
set_timer1(-235);}
enable_interrupts(int_timer1);
enable_interrupts(global);
set_timer1(-62500);
set_pwm1_duty(duty);
d=1;
}
if (sttphim==11)
{
lcd_gotoxy(1,2);
printf(lcd_putc," ");
lcd_gotoxy(1,2);
printf(lcd_putc," QUAY NGHICH ");
if (ct==2)
{enable_interrupts(int_timer0);
set_timer1(-235);}
enable_interrupts(int_timer1);
enable_interrupts(global);
set_timer1(-62500);
set_pwm2_duty(duty);
d=2;
}
if (sttphim==12)//stop
{
disable_interrupts(int_timer0);
set_timer0(0);
disable_interrupts(int_timer1);
set_pwm1_duty(0);
set_pwm2_duty(0);
lcd_gotoxy(1,2);
printf(lcd_putc," ");
lcd_gotoxy(1,2);
printf(lcd_putc," STOP ");
duty=0;
d=0;
}
if (sttphim==14)
{
clear();
c=0;
lcd_gotoxy(1,1);
printf(lcd_putc," ");
lcd_gotoxy(1,2);
printf(lcd_putc," ");
lcd_gotoxy(1,1);
printf(lcd_putc,"CHON CHE DO :_ ");
}}}}}


void pwm()
{
if((luu>s_vong)&& duty<250)
{
error=luu-s_vong;
if (error>1000)
duty=duty+50;
else if (error>100)
duty=duty+20;
else if (error>30)
{duty=duty+5;}
else if (error>20)
duty=duty+1.5;
else if (error>10)
duty=duty+(0.05*error);
else {duty=duty+(0.025*error);}
}
if (luu<(s_vong-2)&& (duty>0))
{error=s_vong-luu;
if (error>=10)
duty=duty-(0.05*error);
else (duty=duty-(0.02*error));
}
if(luu==s_vong)
duty=duty;
if((duty>=250)&&(luu>s_vong))
{ lcd_gotoxy(1,1);
printf(lcd_putc," ");
lcd_gotoxy(1,1);
printf(lcd_putc," TD_tt=MAX ");}
if (d==0)
{set_pwm1_duty(0);
set_pwm2_duty(0);}
else if (d==1)
{set_pwm1_duty(duty);
set_pwm2_duty(0);}
else
{set_pwm1_duty(0);
set_pwm2_duty(duty);}
}
//========chuong trinh con nhap toc do=======
void ghi_tocdo()
{
if(i>=0&&i<=3)
{
// giai thuat luu eeprom
if (i==0)
e0=sttphim;
else if (i==1)
e1=sttphim;
else if (i==2)
e2=sttphim;
else {e3=sttphim;}
//===============================
setpoint*=10;
setpoint+=sttphim;
i++;
lcd_gotoxy(1,1);
printf(lcd_putc," ");
lcd_gotoxy(1,1);
printf(lcd_putc,"TD_dat=%lu v/p",setpoint);
luu=setpoint;
}
else {
lcd_gotoxy(1,1);
printf(lcd_putc," ");
lcd_gotoxy(1,1);
printf(lcd_putc,"0<TD_dat<=9999");
delay_ms(1000);
lcd_gotoxy(1,1);
printf(lcd_putc," ");
lcd_gotoxy(1,1);
printf(lcd_putc,"TD_dat=%lu s",setpoint);
}}
//=========chuong trình con nhap thoi gian=========
void ghi_thoigian()
{
if(l>=0&&l<=3)
{
tg*=10;
tg+=sttphim;
l++;
lcd_gotoxy(1,2);
printf(lcd_putc," ");
lcd_gotoxy(1,2);
printf(lcd_putc,"TG_dat=%lu s",tg);
tg1=tg/0.12;
}
else {
lcd_gotoxy(1,2);
printf(lcd_putc," ");
lcd_gotoxy(1,2);
printf(lcd_putc," 0<TG_dat<=999 ");
delay_ms(1000);
lcd_gotoxy(1,2);
printf(lcd_putc," ");
lcd_gotoxy(1,2);
printf(lcd_putc,"TG_dat=%lu s",tg);
}}
//============chuong trinh con clear=========
void clear()
{
setpoint=0;
tg=0;
i=0;l=0;m=0;
e0=0;e1=0;e2=0;e3=0;
lcd_gotoxy(1,1);
printf(lcd_putc," ");
lcd_gotoxy(1,1);
printf(lcd_putc,"TD_dat=_");
lcd_gotoxy(1,2);
printf(lcd_putc," ");
lcd_gotoxy(1,2);
printf(lcd_putc,"TG_dat=_");
}
//=======chuong trinh con luu toc do vao epprom======

void read_rom()
{
k=read_eeprom(4);
for (j=0;j<k;j++)
{
e=e*10;
e=e+read_eeprom(j);
}}
//==========THE END========