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/***主函數****/#include <reg52.h>
#include<stdlib.h>
#include<intrins.h>
sbit RELAY = P2^4; //定義繼電器對應單片機管腳
bit flag1s = 0; //1s定時標志
unsigned char T0RH = 0; //T0重載值的高字節
unsigned char T0RL = 0; //T0重載值的低字節
unsigned char T1RH = 0; //T0重載值的高字節
unsigned char T1RL = 0; //T0重載值的低字節
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;//用戶設定溫度
float PV; //測量溫度
float KP; //比例常數
float T; //PID計算周期--采樣周期
float TI; //積分常數
float TD; //微分常數
float EK; //本次偏差
float EK_1;//上次偏差
float SEK; //歷史偏差之和
float IOUT;//積分輸出
float POUT; //比例輸出
float DOUT;//微分輸出
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計算
void pid_out(); //PID輸出結果到負載
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; //讀取到的當前溫度值
int intT, decT; //溫度值的整數和小數部分
unsigned char len;
unsigned char str[5];
unsigned char stt[16] = {"T1:"};
unsigned char sty[16] = {"T2:"};
EA = 1; //開總中斷
ConfigTimer0(10); //T0定時10ms
ConfigTimer1(1); //T1定時1ms
Start18B20(); //啟動DS18B20
InitLcd1602(); //初始化液晶
pid_init() ;
LcdWriteCmd(0x0C); //關閉光標閃爍
/*實時溫度*/
while(1)
{
LcdWriteDat(PID.OUT);
/*顯示實時溫度標識"T1:"*/
LcdSetCursor(0x00);
m = 0;
while(stt[m] != '\0')
{
LcdWriteDat(stt[m]);
m++;
}
/*顯示設定溫度標識"T2:"*/
LcdSetCursor(0x40);
m = 0;
while(sty[m] != '\0')
{
LcdWriteDat(sty[m]);
m++;
}
if (flag1s) //每秒更新一次溫度
{
flag1s = 0;
res = Get18B20Temp(&temp); //讀取當前溫度
if (res) //讀取成功時，刷新當前溫度顯示
{
intT = temp >> 4; //分離出溫度值整數部分
decT = temp & 0xF; //分離出溫度值小數部分
len = IntToString(str, intT); //整數部分轉換為字符串
str[len++] = '.'; //添加小數點
decT = (decT*10) / 16; //二進制的小數部分轉換為1位十進制位
str[len++] = decT + '0'; //十進制小數位再轉換為ASCII字符
LcdShowStr(str); //顯示到液晶屏上
Start18B20();
PID.PV=atof(str);
}
}
/*設定溫度*/
keyscan();
if(flag1==1)
{
if(key<11) //10以下是數字顯示部分
{
LcdSetCursor(0x43+e++) ;
LcdWriteDat(table[key]);
a[i]=table[key];
i++;
PID.SV=atof(&a);
}
else if(key==11)
{
LcdWriteCmd(0x01) ; //刪除設定值
e=0;
for(i=0;i<7;i++)
{
a[i]='0';
}
}
flag1=0; //鍵盤檢測標志置0進行下一次檢測
}
pid_calc();
}
}
/* 整型數轉換為字符串，str-字符串指針，dat-待轉換數，返回值-字符串長度 */
unsigned char IntToString(unsigned char *str, int dat)
{
signed char i = 0;
unsigned char len = 0;
unsigned char buf[6];
if (dat < 0) //如果為負數，首先取絕對值，并在指針上添加負號
{
dat = -dat;
*str++ = '-';
len++;
}
do
{ //先轉換為低位在前的十進制數組
buf[i++] = dat % 10;
dat /= 10;
} while (dat > 0);
len += i; //i最后的值就是有效字符的個數
while (i-- > 0) //將數組值轉換為ASCII碼反向拷貝到接收指針上
{
*str++ = buf[i] + '0';
}
*str = '\0'; //添加字符串結束符
return len; //返回字符串長度
}
/* 配置并啟動T0，ms-T0定時時間 10ms*/
void ConfigTimer0(unsigned int ms)
{
unsigned long tmp; //臨時變量
tmp = 11059200 / 12; //定時器計數頻率
tmp = (tmp * ms) / 1000; //計算所需的計數值
tmp = 65536 - tmp; //計算定時器重載值
tmp = tmp + 12; //補償中斷響應延時造成的誤差
T0RH = (unsigned char)(tmp>>8); //定時器重載值拆分為高低字節
T0RL = (unsigned char)tmp;
TMOD &= 0xF0; //清零T0的控制位
TMOD |= 0x01; //配置T0為模式1
TH0 = T0RH; //加載T0重載值
TL0 = T0RL;
ET0 = 1; //使能T0中斷
TR0 = 1; //啟動T0
}
/* T0中斷服務函數，10ms一次，完成1秒定時 */
void InterruptTimer0() interrupt 1
{
static unsigned char tmr1s = 0;
TH0 = T0RH; //重新加載重載值
TL0 = T0RL;
tmr1s++;
PID.C10ms++;
if (tmr1s >= 100) //定時1s
{
tmr1s = 0;
flag1s = 1;
}
}
/* 配置并啟動T1，ms-T1定時時間1ms */
void ConfigTimer1(unsigned int ms1)
{
unsigned long tmp1; //臨時變量
tmp1 = 11059200 / 12; //定時器計數頻率
tmp1 = (tmp1 * ms1) / 1000; //計算所需的計數值
tmp1 = 65536 - tmp1; //計算定時器重載值
tmp1 = tmp1 + 12; //補償中斷響應延時造成的誤差
T1RH = (unsigned char)(tmp1>>8); //定時器重載值拆分為高低字節
T1RL = (unsigned char)tmp1;
TMOD &= 0xF0; //清零T1的控制位
TMOD |= 0x01; //配置T1為模式1
TH1 = T1RH; //加載T1重載值
TL1 = T1RL;
ET1 = 1; //使能T1中斷
TR1 = 1; //啟動T1
}
/* T1中 斷服務函數，1ms一次 */
void InterruptTimer1() interrupt 3
{
TH1 = T1RH; //重新加載重載值
TL1 = T1RL;
// PID.C10ms++;
pid_out(); //輸出PID運算結果到負載
}
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; //當前偏差
PID.POUT=PID.KP*PID.EK;//比例輸出
PID.SEK+=PID.EK; //歷史偏差
DELEK=PID.EK-PID.EK_1;//最近兩次偏差之差
ti=PID.T/PID.TI;
ki=ti*PID.KP;
PID.IOUT=ki*PID.SEK*PID.KP; //積分輸出
td=PID.TD/PID.T;
kd=PID.KP*td;
PID.DOUT=kd*DELEK;
PID.OUT=PID.POUT+PID.IOUT+PID.DOUT+PID.OUT0;//計算結果
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() //每一毫秒運算一次
{
static unsigned char pw;
pw++;
if(pw>PID.pwmcycle) //pw=0-999
{pw=0;}
if(pw<PID.OUT)
{
RELAY=0;//加熱
}
else
{
RELAY=1;//停止加熱
}
}
/*****LCD1602子程序和按鍵模塊程序****/
#include <reg52.h>
#include<intrins.h>
sbit LCD1602_RS = P2^6;
sbit LCD1602_RW = P2^5;
sbit LCD1602_E = P2^7;
unsigned char key,flag1,cal,judge1,judge2;
/*延時程序*/
void delay()
{
_nop_();
_nop_();
_nop_();
_nop_();
_nop_();
}
void Delay(unsigned int i)
{
unsigned int x,j;
for(j=0;j<i;j++)
for(x=0;x<=148;x++);
}
void delay1(unsigned char z) //用于防抖延時
{
unsigned char x,y;
for(x=z;x>0;x--)
for(y=110;y>0;y--);
}
/*測忙狀態*/
bit Busy(void)
{
bit busy_flag = 0;
LCD1602_RS = 0;
LCD1602_RW = 1;
LCD1602_E = 1;
delay();
busy_flag = (bit)(P0 & 0x80);
LCD1602_E = 0;
return busy_flag;
}
/*寫指令 */
void LcdWriteCmd(unsigned char del)
{
while(Busy());
LCD1602_RS = 0;
LCD1602_RW = 0;
LCD1602_E = 0;
delay();
P0 = del;
delay();
LCD1602_E = 1;
delay();
LCD1602_E = 0;
}
/* 寫數據 */
void LcdWriteDat(unsigned char del)
{
while(Busy());
LCD1602_RS = 1;
LCD1602_RW = 0;
LCD1602_E = 0;
delay();
P0 = del;
delay();
LCD1602_E = 1;
delay();
LCD1602_E = 0;
}
/* 設定顯示位置 */
void LcdSetCursor(unsigned char addr)
{
LcdWriteCmd(addr | 0x80); //數據指針=80+地址變量
}
/*溫度傳送*/
void LcdShowStr( unsigned char *str)
{
LcdSetCursor(0x03); //設置顯示位置為第一行的第1個字符
while(*str != '\0')
{ //顯示字符
LcdWriteDat(*str++);
}
}
/* 初始化1602液晶 */
void InitLcd1602()
{
LcdWriteCmd(0x38);
Delay(5);
LcdWriteCmd(0x38);
Delay(5);
LcdWriteCmd(0x38);
Delay(5);
LcdWriteCmd(0x38);
LcdWriteCmd(0x0d);
}
/*鍵盤掃描函數 */
void keyscan()
{
unsigned char temp,xy=0xf7; //xy變量存儲第幾行
unsigned int i;
for(i=0;i<4;i++) //行移動
{
xy=_crol_(xy,1); //_crol_為左移函數
P1=xy;
temp=P1;
temp=temp&0x0f;
if(temp!=0x0f)
{
delay1(50); //去抖
temp=P1;
temp=temp&0x0f;
if(temp!=0x0f)
{
delay1(50); //去抖
temp=P1;
switch(temp) //按鍵定位
{
case 0xee: key=7; break;
case 0xde: key=8; break;
case 0xbe: key=9; break;
case 0x7e: key=10; break;
case 0xed: key=4; break;
case 0xdd: key=5; break;
case 0xbd: key=6; break;
case 0x7d: key=11; break;
case 0xeb: key=1; break;
case 0xdb: key=2; break;
case 0xbb: key=3; break;
case 0x7b: key=12; break;
case 0xe7: key=0; break;
case 0xd7: key=14; break;
case 0xb7: key=15; break;
case 0x77: key=13; break;
}
while(temp!=0x0f)
{
temp=P1;
temp=temp&0x0f;
}
flag1=1; //flag=1標志按鍵檢測完畢
}
}
}
}
/******DS18B20子程序****/
#include <reg52.h>
#include <intrins.h>
sbit IO_18B20 = P3^7; //DS18B20通信引腳
/* 軟件延時函數，延時時間(t*10)us */
void DelayX10us(unsigned char t)
{
do
{
_nop_();
_nop_();
_nop_();
_nop_();
_nop_();
_nop_();
_nop_();
_nop_();
} while (--t);
}
/*復位總線，獲取存在脈沖，初始化DS18B20*/
bit Get18B20Ack() //檢測存在脈沖
{
bit ack;
EA = 0; //關閉中斷
IO_18B20 = 0; //產生500us復位脈沖
DelayX10us(50);
IO_18B20 = 1; //拉高
DelayX10us(6); //延時60微秒
ack = IO_18B20; //讀取存在脈沖
while(!IO_18B20);//等待存在脈沖結束
EA = 1; //打開中斷
return ack;
}
/*DS18B20位寫入時序*/
void Write18B20(unsigned char dat)
{
unsigned char mask;
EA = 0; //關閉中斷
for(mask=0x01; mask!= 0; mask<<=1) //低位在先，依次移出8個bit
{
IO_18B20 = 0; //產生2us低電平脈沖
_nop_();
_nop_();
if((mask&dat) == 0) //輸出該bit值
IO_18B20 = 0;
else
IO_18B20 = 1;
DelayX10us(6); //延時60us
IO_18B20 = 1; //拉高通信引腳
}
EA = 1; //打開中斷
}
/*DS18B20位讀取時序*/
unsigned char Read18B20()
{
unsigned char dat;
unsigned char mask;
EA = 0; //關閉中斷
for(mask=0x01; mask!=0; mask<<=1) //低位在先，依次采集8個bit
{
IO_18B20 = 0; //產生2us低電平脈沖
_nop_();
_nop_();
IO_18B20 = 1; //結束低電平脈沖，等待18B20輸出數據
_nop_(); //延時2us
_nop_();
if(!IO_18B20) //讀取通信引腳上的值
dat &= ~mask;
else
dat |= mask;
DelayX10us(6); //再延時60us
}
EA = 1; //打開中斷
return dat;
}
/*啟動DS18B20*/
bit Start18B20()
{
bit ack;
ack = Get18B20Ack(); //執行總線復位，并獲取18B20應答
if(ack == 0) //如18B20正確應答，則啟動一次轉換
{
Write18B20(0xCC); //跳過ROM，只讀一個18B20
Write18B20(0x44); // 啟動溫度轉換
}
return ~ack; //ack==0表示操作成功，所以返回值對其取反
}
/*獲取溫度*/
bit Get18B20Temp(int *temp)
{
bit ack;
unsigned char LSB, MSB; //16bit溫度值的低字節和高字節
ack = Get18B20Ack(); //執行總線復位，并獲取18B20應答
if(ack == 0) //如18B20正確應答，則讀取溫度值
{
Write18B20(0xCC); //跳過ROM操作
Write18B20(0xBE); //發送讀命令
LSB = Read18B20(); //讀溫度值的低字節
MSB = Read18B20(); //讀溫度值的高字節
*temp = ((int)MSB<<8) + LSB; //合成為16bit整型數
}
return ~ack; //ack==0表示操作應答，所以返回值為其取反值
}
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