课程设计风摆角度自动控制程序附录.doc

程序附录 /***************************************************** This program was produced by the CodeWizardAVR V1.25.7a Standard Automatic Program Generator ?Copyright 1998-2007 Pavel Haiduc, HP InfoTech s.r.l. Project : Version : Date : 2011-9-22 Author : chengwei Company : hdu Comments: Chip type : ATmega16 Program type : Application Clock frequency : 8.000000 MHz Memory model : Small External SRAM size : 0 Data Stack size : 256 *****************************************************/ #include mega16.h #include delay.h #define ADC_VREF_TYPE 0x60 #define DATA PORTB #define SEG PORTC #define KEY_MODE (PINA 0x10) //PA4 #define KEY_ADD (PINA 0x20) //PA5 #define KEY_MINUS (PINA 0x40) //PA6 #define KEY_ENTER (PINA 0x80) //PA7 unsigned char angle_sp, angle_pv; unsigned char pid_p, pid_i, pid_d; unsigned char disBuf[8] = {0}; unsigned char curMode = 0; unsigned char Enter_Mode=1; //0:off 1:on 选择是否进入设置状态 int mv0, mv1, mv, err0, err1, err2; const unsigned char seg[4] = {~0x01, ~0x02, ~0x04, ~0x08}; //采用npn三极管作开关选择，选择控制数码管亮 const unsigned char code[14] = {~0x3f, ~0x06, ~0x5b, ~0x4f, ~0x66, ~0x6d, ~0x7d, ~0x07, ~0x7f, ~0x6f, 0x8c, 0xf0, 0xa1, 0x88}; //4位数码管选择位 PORTC低4位输出控制 动态显示 unsigned char read_adc(unsigned char adc_input) //Read the AD conversion result { ADMUX=adc_input | (ADC_VREF_TYPE 0xff); //用于选择哪一个AD口进行数据转换，能够根据时隙来决定多路复用 delay_us(10); ADCSRA|=0x40; while ((ADCSRA 0x10)==0); //等待ADC转换结束，中断置位 ADCSRA|=0x10; return ADCH; //转换结果左对齐，最高只需8位的转换精度，读取ADCH即可 } void Mode_Change(void) { if(0==KEY_MODE)//判断模式选择KEY_MODE是否按下 { delay_ms(1);//调用内部定时函数，去抖动 if(KEY_MODE)//再次判断 return; while(0==KEY_MODE);//键被按下，等待释放，不对按键时长作处理，按下--释放，算一次按键 CurMode++; if(CurMode4)//5种模式选择 CurMode=0; } } void Para_Adj(void) { if(0==