#include <stdio.

h>
#include <delay.h>
#include <mega8.h>
#define ADC_VREF_TYPE 0x00
// Read the AD conversion result
unsigned int read_adc(unsigned char adc_input)
{
ADMUX=adc_input | (ADC_VREF_TYPE & 0xff);
// Delay needed for the stabilization of the ADC input voltage
delay_us(10);
// Start the AD conversion
ADCSRA|=0x40;
// Wait for the AD conversion to complete
while ((ADCSRA & 0x10)==0);
ADCSRA|=0x10;
return ADCW;
}
#define Enki PORTB.0
#define Dir PORTB.1
#define F_Ref read_adc(1)
#define F_sensor read_adc(0)
#define MAXPWM 1000
#define MINPWM 200
// Alphanumeric LCD Module functions
#asm
.equ __lcd_port=0x15 ;PORTC
#endasm
#include <lcd.h>
unsigned int xcount1;
int PWM;
// Timer 0 overflow interrupt service routine
interrupt [TIM0_OVF] void timer0_ovf_isr(void)
{
xcount1++;
if ( xcount1 <= PWM ){ Enki=0;}
else { Enki=1;}
if ( xcount1 > MAXPWM ){xcount1 = 0;}
}
// Timer 1 overflow interrupt service routine
interrupt [TIM1_OVF] void timer1_ovf_isr(void)
{
// Reinitialize Timer 1 value
TCNT1H=0xD2;
TCNT1L=0x39;
}
unsigned char det1;
int P, I=0,D, ii, error, error1=0, PWMout,rate;
float Kp, Ki, Kd;
char buf[33];
char buf1[33];
char buf2[33];
char buf3[33];
char buf4[33];
// Timer 2 overflow interrupt service routine
interrupt [TIM2_OVF] void timer2_ovf_isr(void)
{
det1++;
if (det1>5)
{
Kp = 1;
Ki = 0.05;
Kd = 1;

error = F_Ref - F_sensor;
P = Kp * error;
I = I + error;
I = Ki * I;
D = Kd * (error - error1);
error1 = error;
PWMout = PWMout + P + I + D;

if ( PWMout > 2000 )
{
PWMout = 2000;
}
else if ( PWMout < -2000 )
{
PWMout = -2000;
}
//else {
PWM = (int)(0.4*(float)PWMout) + 600;
// }
//putsf("AA");
//delay_ms(1);
putchar(F_Ref & 0xff);
//putchar((F_Ref >> 8) & 0xFF);
//delay_ms(1);
// putchar(F_sensor & 0xFF);
// putchar((F_sensor >> 8) & 0xFF);
//kirim=0xFF+0xBA+0xFF+0xBA;
//strcopy(kirim,0xFF);
// i=0;
/*
lcd_clear();
lcd_gotoxy(0,0);
sprintf(buf,"%d",F_sensor);
lcd_puts(buf);
lcd_gotoxy(0,1);
sprintf(buf1,"%d",F_Ref);
lcd_puts(buf1);

lcd_gotoxy(5,0);
sprintf(buf2,"%d",error);
lcd_puts(buf2);
lcd_gotoxy(5,1);
sprintf(buf3,"%d",error1);
lcd_puts(buf3);

lcd_gotoxy(10,0);
sprintf(buf4,"%d",P);
lcd_puts(buf4);
lcd_gotoxy(10,1);
sprintf(buf,"%d",I);
lcd_puts(buf);
lcd_gotoxy(15,0);
sprintf(buf1,"%d",D);
lcd_puts(buf1);
det1 = 0;
*/
}
// TCNT2=0xff;
}
unsigned char kPp, kIi, kDd;
// Declare your global variables here
void setPID ()
{
if(PINB.7==0){kPp++;}
if(PINB.6==0){kIi++;}
if(PINB.5==0){kDd++;}

Kp = kPp;
Ki = kIi;
Kd = kDd;
}
void main(void)
{
// Declare your local variables here
// Input/Output Ports initialization
// Port A initialization
// Func7=In Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In
// State7=T State6=T State5=T State4=T State3=T State2=T State1=T State0=T
PORTA=0x00;
DDRA=0x00;
// Port B initialization
// Func7=In Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In
// State7=T State6=T State5=T State4=T State3=T State2=T State1=T State0=T
PORTB=0xFE;
DDRB=0xFF;
// Port C initialization
// Func7=Out Func6=Out Func5=Out Func4=Out Func3=Out Func2=Out Func1=Out Func0=O
ut
// State7=0 State6=0 State5=0 State4=0 State3=0 State2=0 State1=0 State0=0
PORTC=0x00;
DDRC=0xFF;
// Port D initialization
// Func7=Out Func6=Out Func5=Out Func4=Out Func3=Out Func2=Out Func1=Out Func0=O
ut
// State7=1 State6=1 State5=1 State4=1 State3=1 State2=1 State1=1 State0=0
PORTD=0x0F;
DDRD=0xFF;
// Timer/Counter 0 initialization
// Clock source: System Clock
// Clock value: 11.719 kHz
// Mode: Normal top=FFh
// OC0 output: Disconnected
TCCR0=0x01;
TCNT0=0xFF;
OCR0=0x00;
// Timer/Counter 1 initialization
// Clock source: System Clock
// Clock value: 11.719 kHz
// Mode: Normal top=FFFFh
// OC1A output: Discon.
// OC1B output: Discon.
// Noise Canceler: Off
// Input Capture on Falling Edge
// Timer 1 Overflow Interrupt: On
// Input Capture Interrupt: Off
// Compare A Match Interrupt: Off
// Compare B Match Interrupt: Off
TCCR1A=0x00;
TCCR1B=0x05;
TCNT1H=0xD2;
TCNT1L=0x39;
ICR1H=0x00;
ICR1L=0x00;
OCR1AH=0x00;
OCR1AL=0x00;
OCR1BH=0x00;
OCR1BL=0x00;
// Timer/Counter 2 initialization
// Clock source: System Clock
// Clock value: 11.719 kHz
// Mode: Normal top=FFh
// OC2 output: Disconnected
ASSR=0x00;
TCCR2=0x07;
TCNT2=0x00;
OCR2=0x00;
// External Interrupt(s) initialization
// INT0: Off
// INT1: Off
// INT2: Off
MCUCR=0x00;
MCUCSR=0x00;
// Timer(s)/Counter(s) Interrupt(s) initialization
TIMSK=0x45;
// Analog Comparator initialization
// Analog Comparator: Off
// Analog Comparator Input Capture by Timer/Counter 1: Off
ACSR=0x80;
SFIOR=0x00;
// ADC initialization
// ADC Clock frequency: 187.500 kHz
// ADC Voltage Reference: AREF pin
// ADC High Speed Mode: Off
// ADC Auto Trigger Source: None
ADMUX=ADC_VREF_TYPE & 0xff;
ADCSRA=0x85;
SFIOR&=0xEF;
// USART initialization
// Communication Parameters: 8 Data, 1 Stop, No Parity
// USART Receiver: On
// USART Transmitter: On
// USART Mode: Asynchronous
// USART Baud Rate: 9600
UCSRA=0x00;
UCSRB=0x18;
UCSRC=0x86;
UBRRH=0x00;
UBRRL=0x4D;
// LCD module initialization
lcd_init(16);
// Global enable interrupts
#asm("sei")
while (1)
{
lcd_clear();
lcd_gotoxy(0,0);
sprintf(buf,"%d %d %d %d",F_Ref, F_sensor, error, D);
lcd_puts(buf);
lcd_gotoxy(0,1);
sprintf(buf1,"%d %d %d %d",PWM, PWMout, I, P);
lcd_puts(buf1);
delay_ms(100);
};
}