main.c

sbit LCD_RS at RD4_bit;
sbit LCD_EN at RD5_bit;
sbit LCD_D4 at RD0_bit;
sbit LCD_D5 at RD1_bit;
sbit LCD_D6 at RD2_bit;
sbit LCD_D7 at RD3_bit;
sbit LCD_RS_Direction at TRISD4_bit;
sbit LCD_EN_Direction at TRISD5_bit;
sbit LCD_D4_Direction at TRISD0_bit;
sbit LCD_D5_Direction at TRISD1_bit;
sbit LCD_D6_Direction at TRISD2_bit;
sbit LCD_D7_Direction at TRISD3_bit;
float kp = 45;
float ki = 108;
float kd = 0;
int count = 0;
float v1 = 0.0,v_des = 100.0, err, err_bef = 0.0f, err_der = 0, der = 0, pom;      //V_ZELJENEO MAX=360 RPM TU SE POSAVLJA BRZINA
char PWM = 0, count1 = 0;
char speed_text[] = "000RPM ", rec_speed[] = "000";
char speed[10];
void init()
{
 GIE_bit = 1;
 PEIE_bit = 1;
 INTE_bit = 1;
 TMR1IE_bit = 1;
 TRISB0_bit = 1;
 TRISB4_bit = 1;
 TRISB5_bit = 1;
 INTEDG_bit = 1;
 TMR1CS_bit = 0;
 TMR1H = 0;
 TMR1L = 0;
 T1CKPS0_bit = 1;
 T1CKPS1_bit = 1;
 err = v_des;
 err_bef = err * 0.25;
 TMR1ON_bit=1;
 UART1_Init(9600);
 Lcd_Init();
}
void interrupt()
{
  if(TMR1IF_bit)        //0.25   *4
  {
   TMR1H= 0x00;
   TMR1L = 0x00;
   v1 = count;                           //60*4/240=1 OKO JEDNE ROTACIJE REZOLUCIJA
   speed_text[0]=(int)v1/100+48;
   speed_text[1]=(((int)v1)/10)%10+48;
   speed_text[2]=(int)v1%10+48;
   Lcd_Out(1,1,"BRZINA: ");
   Lcd_Out(2,1,speed_text);
   //UART1_Write_Text();
   UART1_Write_Text(speed_text);
   count = 0;
   err = v_des - v1;
   err_der = (der - err) * 0.25;
   der = err;
   err_bef = err_bef + (err);
   pom = (err * kp + (err_bef * ki) + kd * err_der);          // za toliko odsupa 1/4 nije 0.26777 otprilike     +pom*0.027
   PWM = (char)(pom );
  if(err > 0)
  {
    PWM1_Set_Duty(PWM);
    PWM2_Set_Duty(0);
  }            //
  else
  {
   PWM1_Set_Duty(0);
   PWM2_Set_Duty(PWM);
  }
   TMR1IF_bit=0;
  }
   if(INTF_bit&&!TMR1IF_bit)
  {
   count++;
   INTF_bit=0;
  }
}
#define TUNE 0
//In real dc motors this freq is 5-20khz
//if simulation in proteus freq is 500hz cuz of simulation
//min freq for motor coude be calculated if we lock motor as a low pass filter
//omega(s)/V(s) = K /(tau*s + 1) FREQ >= 5/(2*pi*tau)
#define FREQ 500
void main()
{
  PWM1_Init(FREQ);
  PWM2_Init(FREQ);
  PWM2_Start();
  PWM1_Start();
  init();

 while(1)
 {
 #if TUNE == 0
 if (UART1_Data_Ready() == 1) {
      UART1_Read_Text(speed, "OK", 6);//speed[4] = '\0';
      v_des = ((speed[0] - '0') * 100 + (speed[1] - '0') * 10 + (speed[2] - '0') * 1);
      speed[0] = '\0';
 }
 #elif TUNE == 1
 if (UART1_Data_Ready() == 1) {
      UART1_Read_Text(speed, "OK", 6);//speed[4] = '\0';
      kp = (float)((speed[0] - '0') * 100 + (speed[1] - '0') * 10 + (speed[2] - '0') * 1);
      speed[0] = '\0';
 }
 #elif TUNE == 2
 if (UART1_Data_Ready() == 1) {
      UART1_Read_Text(speed, "OK", 10);//speed[4] = '\0';
      ki = (float)((speed[0] - '0') * 100 + (speed[1] - '0') * 10 + (speed[2] - '0') * 1);
      speed[0] = '\0';
 }
 #elif TUNE == 3
 if (UART1_Data_Ready() == 1) {
      UART1_Read_Text(speed, "OK", 10);//speed[4] = '\0';
      kd = (float)((speed[0] - '0') * 100 + (speed[1] - '0') * 10 + (speed[2] - '0') * 1);
      speed[0] = '\0';
 }
 
 
 #endif
 }
 
 }