//主程序======================================================
#include "Main.h"
#include "PID_f1.h"

/* ............................................................... */
/* ............................................................... */

void main(void)
{
float x,y,z;

while(1)
{
x = PID_Control(y,z);
}
}

//PID子程序=====================================================

/*------------------------------------------------------------------*-

PID_f1.C (v1.00)

------------------------------------------------------------------

Simple PID control implementation.

See Chapter 35 for details.

COPYRIGHT
---------

This code is from the book:

PATTERNS FOR TIME-TRIGGERED EMBEDDED SYSTEMS by Michael J. Pont
[Pearson Education, 2001; ISBN: 0-201-33138-1].

This code is copyright (c) 2001 by Michael J. Pont.

See book for copyright details and other information.

-*------------------------------------------------------------------*/

#include "PID_f1.h"

// ------ Private constants ----------------------------------------

#define PID_KP (0.2f) // Proportional gain
#define PID_KI (0.01f) // Integral gain
#define PID_KD (0.01f) // Differential gain

#define PID_MAX (1.0f) // Maximum PID controller output
#define PID_MIN (0.0f) // Minimum PID controller output

// ------ Private variable definitions------------------------------

static float Sum_G; // Integrator component
static float Old_error_G; // Previous error value

/*------------------------------------------------------------------*-

PID_Control()

Simple floating-point version.

See text for details.

-*------------------------------------------------------------------*/
float PID_Control(float Error, float Control_old)
{
// Proportional term
float Control_new = Control_old + (PID_KP * Error);

// Integral term
Sum_G += Error;
Control_new += PID_KI * Sum_G;

// Differential term
Control_new += (PID_KD * SAMPLE_RATE * (Error - Old_error_G));

// Control_new cannot exceed PID_MAX or fall below PID_MIN
if (Control_new > PID_MAX)
{
Control_new = PID_MAX;
}
else
{
if (Control_new < PID_MIN)
{
Control_new = PID_MIN;
}
}

// Store error value
Old_error_G = Error;

return Control_new;
}

/*------------------------------------------------------------------*-
---- END OF FILE -------------------------------------------------
-*------------------------------------------------------------------*/

//頭文件Main.H=========================================================

/*------------------------------------------------------------------*-

Main.H (v1.00)

------------------------------------------------------------------

'Project Header' (see Chap 9) for project PID_f1 (see Chap 35)

COPYRIGHT
---------

This code is from the book:

PATTERNS FOR TIME-TRIGGERED EMBEDDED SYSTEMS by Michael J. Pont
[Pearson Education, 2001; ISBN: 0-201-33138-1].

This code is copyright (c) 2001 by Michael J. Pont.

See book for copyright details and other information.

-*------------------------------------------------------------------*/

#ifndef _MAIN_H
#define _MAIN_H

//------------------------------------------------------------------
// WILL NEED TO EDIT THIS SECTION FOR EVERY PROJECT
//------------------------------------------------------------------

// Must include the appropriate microcontroller header file here
#include

// Include oscillator / chip details here
// (essential if generic delays / timeouts are used)
// -
// Oscillator / resonator frequency (in Hz) e.g. (11059200UL)
#define OSC_FREQ (12000000UL)

// Number of oscillations per instruction (4, 6 or 12)
// 12 - Original 8051 / 8052 and numerous modern versions
// 6 - Various Infineon and Philips devices, etc.
// 4 - Dallas, etc.
//
// Take care with Dallas devices
// - Timers default to *12* osc ticks unless CKCON is modified
// - If using generic code on a Dallas device, use 12 here
#define OSC_PER_INST (12)

//------------------------------------------------------------------
// SHOULD NOT NEED TO EDIT THE SECTIONS BELOW
//------------------------------------------------------------------
typedef unsigned char tByte;
typedef unsigned int tWord;
typedef unsigned long tLong;

// Misc #defines
#ifndef TRUE
#define FALSE 0
#define TRUE (!FALSE)
#endif

#define RETURN_NORMAL (bit) 0
#define RETURN_ERROR (bit) 1

//------------------------------------------------------------------
// Interrupts
// - see Chapter 13.
//------------------------------------------------------------------

// Generic 8051/52 timer interrupts (used in most schedulers)
#define INTERRUPT_Timer_0_Overflow 1
#define INTERRUPT_Timer_1_Overflow 3
#define INTERRUPT_Timer_2_Overflow 5

// Additional interrupts (used in shared-clock schedulers)
#define INTERRUPT_EXTERNAL_0 0
#define INTERRUPT_EXTERNAL_1 2
#define INTERRUPT_UART_Rx_Tx 4
#define INTERRUPT_CAN_c515c 17

//------------------------------------------------------------------
// Error codes
// - see Chapter 14.
//------------------------------------------------------------------

#define ERROR_SCH_TOO_MANY_TASKS (1)
#define ERROR_SCH_CANNOT_DELETE_TASK (2)

#define ERROR_SCH_WAITING_FOR_SLAVE_TO_ACK (3)
#define ERROR_SCH_WAITING_FOR_START_COMMAND_FROM_MASTER (3)

#define ERROR_SCH_ONE_OR_MORE_SLAVES_DID_NOT_START (4)
#define ERROR_SCH_LOST_SLAVE (5)

#define ERROR_SCH_CAN_BUS_ERROR (6)

#define ERROR_I2C_WRITE_BYTE (10)
#define ERROR_I2C_READ_BYTE (11)
#define ERROR_I2C_WRITE_BYTE_AT24C64 (12)
#define ERROR_I2C_READ_BYTE_AT24C64 (13)
#define ERROR_I2C_DS1621 (14)

#define ERROR_USART_TI (21)
#define ERROR_USART_WRITE_CHAR (22)

#define ERROR_SPI_EXCHANGE_BYTES_TIMEOUT (31)
#define ERROR_SPI_X25_TIMEOUT (32)
#define ERROR_SPI_MAX1110_TIMEOUT (33)

#define ERROR_ADC_MAX150_TIMEOUT (44)

#endif

/*------------------------------------------------------------------*-
---- END OF FILE -------------------------------------------------
-*------------------------------------------------------------------*/

//頭文件 PID_f1.H
// ------ Public function prototypes -------------------------------

float PID_Control(float,float);

// ------ Public constants -----------------------------------------

#define SAMPLE_RATE (1) // Hz

/*------------------------------------------------------------------*-
---- END OF FILE -------------------------------------------------
-*------------------------------------------------------------------*/