#include < avr / io.h >
//电动自行车双闭环程序，采用双闭环方式控制电机，以得到最好的转速性能，并且可以
//限制电机的最大电流。本应用程序用到两个CCP部件，其中CCP1用于PWM输出，以控
//制电机电压；CCP2用于触发AD，定时器TMR2、TMR1，INT中断，RB口电平变化中断，
//看门狗以及6个通用I/O口
#define AND0xe0//状态采集5，6，7位
#define CURA 0X0a//电流环比例和积分系数之和
#define CURB 0X09//电流环比例系数
#define THL0X6400//电流环最大输出
#define FULLDUTY 0X0FF//占空比为1时的高电平时间
#define SPEA 0X1d//转速环比例和积分系数之和
#define SPEB 0X1c//转速环比例系数
#define GCURHILO 0X0330//转速环最大输出
#define GCURH 0X33//最大给定电流
#define GSPEH 0X67//最大转速给定
#define TSON 0X38//手柄开启电压1.1 V，TSON*2为刹车后手柄开启电压，即 
//2.2 V
#define VOLON 0X4c//低电压保护重开电压3.0 V即33 V
#define VOLOFF 0X49//低电压保护关断电压2.86 V即31.5 V
volatile unsigned char DELAYH, DELAYL, oldstate, speed,
         speedcount, tsh, count_ts, count_vol, gcur, currenth,
         voltage;//寄存器定义
static bit sp1, spe, ts, volflag, spepid, lowpower,
       off, shutdown, curpid; //标志位定义
static volatile unsigned char new[10] = {0xaf, 0xbe, 0xff, 0x7e, 0xcf,
                                         0xff, 0xd7, 0x77, 0xff, 0xff
                                        };//状态寄存器表
//------------PIC16F877初始化子程序------------
void INIT877()
{
    PORTC = 0X0FF; //关断所有MOSFET
    TRISC = 0X02; //设置C口输出
    PIE1 = 0X00; //中断寄存器初始化，关断所有中断
    TRISA = 0XCF; //设置RA4,RA5 输出
    TRISB = 0XEF; //RB 口高三位输入，采集电机三相的霍尔信号
    PORTC = new[(PORTB & AND) >> 5]; //采集第一次霍尔信号，并输出相应的信号，导通
//两个MOS管
    T2CON = 0X01; //TMR2 4分频
    CCPR1L = 0X0FF; //初始时PWM输出全高
    CCP1CON = 0X0FF; //CCP1设置为PWM方式
    CCP2CON = 0X0B; //CCP2设置为特殊方式，以触发AD
    ADCON0 = 0X81; //AD时钟为32分频,且AD使能,选择AN0通道采集手
//柄电压
    TMR2 = 0X00; //TMR2寄存器初始化
    TMR1H = 0X00; //TMR1寄存器初始化
    TMR1L = 0X00;
    T1CON = 0X00; //TMR1为
    CCPR2H = 0X08;
    CCPR2L = 0X00; //电流采样周期设置为TAD=512 μs
    PR2 = 0XC7; //PWM频率设置为5 kHz
    ADCON1 = 0X02; //AD结果左移
    OPTION = 0XFB; //INT上升沿触发
    TMR2ON = 1; //PWM开始工作
    INTCON = 0XD8; //中断设置GIE=1,PEIE=1,RBIE=1
    ADIE = 1; //AD中断使能
    speedcount = 0x00; //转速计数寄存器
    speed = 0x7f; //转速保持寄存器
    spe = 1; //低速标志位
    sp1 = 1; //低速标志位
    oldstate = 0x0ff; //初始状态设置，区别于其他状态
    count_ts = 0x08; //电流采样8次,采集1次手柄
    count_vol = 0x00; //采样256次手柄,采集1次电池电压
    ts = 1; //可以采集手柄值的标志位
    ADGO = 1; //AD采样使能
    TMR1ON = 1; //CCP2部件开始工作
}
//------------延时子程序---------------
#pragma interrupt_level 1
void DELAY1(x)
char x;
{
    DELAYH = x; //延时参数设置
#asm
    DELAY2 MOVLW 0X06
    MOVWF _DELAYL
    DELAY1 DECFSZ _DELAYL
    GOTO DELAY1
    DECFSZ _DELAYH
    GOTO DELAY2
#endasm
}

//-----------状态采集子程序----------------------
void sample()
{
    char state1, state2, state3, x;
    do {
        x = 1;
        state1 = (PORTB & AND); //霍尔信号采集
        DELAY1(x);
        state2 = (PORTB & AND);
    }
    while (state1 - state2); //当三次采样结果不相同时继续采集状态
    if (state1 - oldstate != 0) //看本次采样结果是否与上次相同，不同
//则执行
    {
        oldstate = state1; //将本次状态设置为旧状态
        state1 = (oldstate >> 5);
        PORTC = new[state1]; //C口输出相应的信号触发两个MOS管
        if (sp1 == 1) {
            spe = 1;
            sp1 = 0;
        }
        else {//如果转速很低，则spe置1
            spe = 0;
            sp1 = 0;
            speedcount <<= 1;
            state3 = (TMR1H >> 2); //否则，spe=0,计转速
            speed = speedcount + state3; //speed寄存器为每256 μs加1
        }
        speedcount = 0;
    }
}

//-----------------AD采样子程序----------------------
void AD()
{
    char x;
    ADIF = 0; //清AD中断标志位
    if (ts == 1) { //如果为手柄采样，则采样手柄值
        CHS0 = 1; //选择电流采样通道
        count_vol = count_vol + 1; //电池采样计数寄存器
        spepid = 1; //置转速闭环运算标志
        ts = 0;
        tsh = ADRESH; //存手柄值
        if (count_vol == 0) { //如果电池采样时间到，则选择AN2通道，采集电池电压
            CHS0 = 0;
            CHS1 = 1;
            volflag = 1;
            x = 1;
            DELAY1(x);
            ADGO = 1;
        }
    }
    else if (volflag == 1) { //电池采样完毕，进行相应的处理
        CHS1 = 0;
        CHS0 = 1;
        volflag = 0;
        voltage = ADRESH;
        lowpower = 1;
    }
    else {
        //否则，中断为采样电流中断
        speedcount = speedcount + 1; //speedcount寄存器加1，作为测量转速用
        if (speedcount > 0x3d) {
            sp1 = 1;    //如果转速低于1 000 000 μs/(512 μs*3eh*3)
        }
// 则认为为低速状态
        currenth = ADRESH;
        curpid = 1;
        count_ts = count_ts - 1;
        if (count_ts == 0) { //如果手柄时间到，则转入手柄采样通道
            CHS0 = 0;
            count_ts = 0x08;
            ts = 1;
            x = 1;
            DELAY1(x);
            ADGO = 1;
        }
    }
}

//-------------刹车处理子程序------------------
void BREAKON()
{
    char x;
    off = 0; //off清零，如果是干扰则不复位
    shutdown = 0;
    if (RB0 == 1) { //如果刹车信号为真，则停止输出电压
        ADIE = 0; //关AD中断
        INTE = 0; //关刹车中断
        CCPR1L = FULLDUTY; //输出电压0
        TMR1ON = 0; //关CCP2，不再触发AD
        for (; ADGO == 1;) {
            continue;    //如正在采样，则等待采样结束
        }
        ADIF = 0; //ADIF位清零
        CHS0 = 0; //选择通道0采样手柄
        CHS1 = 0;
        x = 1;
        DELAY1(x);
        do {
            ADGO = 1;
            for (; ADIF == 0;) {
                continue;
            }
            ADIF = 0;
            CCPR1L = FULLDUTY;
            asm("CLRWDT");
            tsh = (ADRESH >> 1);
        }
        while (tsh > TSON || RB0 == 1); //当手柄值大于2.2 V或刹车仍旧继续时,执行以
//上语句
        off = 1; //置复位标志
    }
}

//---------欠保护子程序-------------------
void POWER()
{
    char x;
    lowpower = 0;
    voltage >>= 1; //电压值换为7位，以利于单字节运算
    if (voltageADIE = 0;
        INTE = 0;
        TMR1ON = 0;
        CCPR1L = FULLDUTY;
        for (; ADGO == 1;)continue;
            ADIF = 0;
            CHS0 = 0; CHS1 = 1;
            x = 1;
            DELAY1(x);
        do {
            ADGO = 1;
            for (; ADIF == 0;) {
                    continue;
                }
                ADIF = 0;
                voltage = (ADRESH >> 1);
                CCPR1L = FULLDUTY;
                asm("CLRWDT");
            }
            while (voltageoff = 1; //置复位标志
        }
}

//------------电流环运算子程序-----------------
void CURPI()
{
    static int curep = 0x00, curek = 0x00, curuk = 0x00;
    union data {
        int pwm;
        char a[2];
    } b; //定义电流环运算寄存器
    curpid = 0; //清电流运算标志
    curep = curek * CURB; //计算上一次偏差与比例系数的积
    if (currenth < 2) {
        currenth = 2;    //如果采样电流为零，则认为有一个小电
    }
    流以利于
//使转速下降
    currenth >>= 1;
    curek = gcur - currenth; //计算本次偏差
    curuk = curuk + curek * CURA - curep; //按闭环PI运算方式得到本次输出结果，
    下
//面对结果进行处理
    if (curuk < 0x00) { //如果输出小于零，则认为输出为零
        curuk = 0;
        CCPR1L = FULLDUTY;
        CCP1X = 0;
        CCP1Y = 0;
    }
    else if (curuk - THL >= 0) {
        //如果输出大于限幅值，则输出最大电压
        curuk = THL;
        CCPR1L = 0;
        CCP1X = 0;
        CCP1Y = 0;
    }
    else { //否则，按比例输出相应的高电平时间到CCPR1寄存器
        b.pwm = THL - curuk;
        b.pwm <<= 1;
        CCPR1L = b.a[1]; //CCPR1L=(b.pwm>>8)&0x0ff;将PWM寄存器的高半字节
        if (b.pwm & 0x80 != 0) {
            CCP1X = 1;
        }
        else {
            CCP1X = 0;
        }
        if (b.pwm & 0x40 != 0) {
            CCP1Y = 1;
        }
        else {
            CCP1Y = 0;
        }
    }
}

//---------------转速环运算子程序-----------------------
void SPEPI()
{
    static int speep = 0x00, speek = 0x00, speuk = 0x00;
    int tsh1, speed1; //转速寄存器定义
    spepid = 0; //清转速运算标志
    if (spe == 1) {
        speed1 = 0x00;    //若转速太低，则认为转速为零
    }
    else {
        speed1 = 0x7f - speed;    //否则计算实际转速
    }
    if (speed1 < 0) {
        speed1 = 0;
    }
    speep = speek * SPEB;
    tsh1 = tsh - 0x38; //得到计算用的手柄值
    speek = tsh1 - speed1;
    if (tsh1 < 0) {
        speuk = 0;    //当手柄值低于1.1 V时，则认为手柄给定为零
        gcur = 0;
    }
    else { //否则，计算相应的转速环输出
        if (tsh1 >= GSPEH) { //限制最大转速
            tsh1 = GSPEH;
        }
        speuk = speuk + speek * SPEA - speep; //计算得转速环输出
        if (speuk <= 0X00) {
            speuk = 0x00;    //转速环输出处理
            gcur = 0x00;
        }
        else if (speuk > GCURHILO) { //转速环输出限制，即限制最大电流约12
            A
            speuk = GCURHILO;
            gcur = GCURH;
        }
        else { //调速状态时的输出
            gcur = (speuk >> 4) & 0x0ff;
        }
    }
}

//-----------主程序-------------------------
main()
{
    for (;;) {
        INIT877(); //单片机复位后，先对其进行初始化
        off = 0; //清复位标志
        for (; off == 0;) { //复位标志为零，则执行下面程序，否则复位
            if (curpid == 1) {
                CURPI();    //电流PI运算
            }
            else if (spepid == 1) {
                SPEPI();    //转速PI运算
            }
            else if (lowpower == 1) {
                POWER();
            }
            else if (shutdown == 1) {
                BREAKON();
            }
            asm("CLRWDT");
        }
    }
}

//---------中断服务子程序---------------------
#pragma interrupt_level 1
void interrupt INTS(void)
{
    if (RBIF == 1) {
        RBIF = 0;
        sample();
    }
    else if (ADIF == 1) {
        AD();
    }
    else if (INTF == 1) {
        shutdown = 1;    //刹车中断来，置刹车标志
        INTF = 0;
    }
}