мой недо контроллер

/*****************************************************
This program was produced by the
CodeWizardAVR V2.05.0 Professional
Automatic Program Generator
© Copyright 1998-2010 Pavel Haiduc, HP InfoTech s.r.l.
http://www.hpinfotech.com

Project : simple_bga_solder
Version :
Date : 08.11.2012
Author :
Company :
Comments:


Chip type : ATmega16
Program type : Application
AVR Core Clock frequency: 8,000000 MHz
Memory model : Small
External RAM size : 0
Data Stack size : 256
*****************************************************/

#include <mega16.h>

#include <delay.h>

// Alphanumeric LCD Module functions
#include <alcd.h>

#ifndef RXB8
#define RXB8 1
#endif

#ifndef TXB8
#define TXB8 0
#endif

#ifndef UPE
#define UPE 2
#endif

#ifndef DOR
#define DOR 3
#endif

#ifndef FE
#define FE 4
#endif

#ifndef UDRE
#define UDRE 5
#endif

#ifndef RXC
#define RXC 7
#endif

#define FRAMING_ERROR (1<<FE)
#define PARITY_ERROR (1<<UPE)
#define DATA_OVERRUN (1<<DOR)
#define DATA_REGISTER_EMPTY (1<<UDRE)
#define RX_COMPLETE (1<<RXC)

// USART Receiver buffer
#define RX_BUFFER_SIZE 16
char rx_buffer[RX_BUFFER_SIZE];

#if RX_BUFFER_SIZE <= 256
unsigned char rx_wr_index,rx_rd_index,rx_counter;
#else
unsigned int rx_wr_index,rx_rd_index,rx_counter;
#endif

// This flag is set on USART Receiver buffer overflow
bit rx_buffer_overflow;

// USART Receiver interrupt service routine
interrupt [USART_RXC] void usart_rx_isr(void)
{
char status,data;
status=UCSRA;
data=UDR;
if ((status & (FRAMING_ERROR | PARITY_ERROR | DATA_OVERRUN))==0)
{
rx_buffer[rx_wr_index++]=data;
#if RX_BUFFER_SIZE == 256
// special case for receiver buffer size=256
if (++rx_counter == 0)
{
#else
if (rx_wr_index == RX_BUFFER_SIZE) rx_wr_index=0;
if (++rx_counter == RX_BUFFER_SIZE)
{
rx_counter=0;
#endif
rx_buffer_overflow=1;
}
}
}
#ifndef _DEBUG_TERMINAL_IO_
// Get a character from the USART Receiver buffer
#define _ALTERNATE_GETCHAR_
#pragma used+
char getchar(void)
{
char data;
while (rx_counter==0);
data=rx_buffer[rx_rd_index++];
#if RX_BUFFER_SIZE != 256
if (rx_rd_index == RX_BUFFER_SIZE) rx_rd_index=0;
#endif
#asm("cli")
--rx_counter;
#asm("sei")
return data;
}
#pragma used-
#endif

// USART Transmitter buffer
#define TX_BUFFER_SIZE 16
char tx_buffer[TX_BUFFER_SIZE];

#if TX_BUFFER_SIZE <= 256
unsigned char tx_wr_index,tx_rd_index,tx_counter;
#else
unsigned int tx_wr_index,tx_rd_index,tx_counter;
#endif

// USART Transmitter interrupt service routine
interrupt [USART_TXC] void usart_tx_isr(void)
{
if (tx_counter)
{
--tx_counter;
UDR=tx_buffer[tx_rd_index++];
#if TX_BUFFER_SIZE != 256
if (tx_rd_index == TX_BUFFER_SIZE) tx_rd_index=0;
#endif
}
}

#ifndef _DEBUG_TERMINAL_IO_
// Write a character to the USART Transmitter buffer
#define _ALTERNATE_PUTCHAR_
#pragma used+
void putchar(char c)
{
while (tx_counter == TX_BUFFER_SIZE);
#asm("cli")
if (tx_counter || ((UCSRA & DATA_REGISTER_EMPTY)==0))
{
tx_buffer[tx_wr_index++]=c;
#if TX_BUFFER_SIZE != 256
if (tx_wr_index == TX_BUFFER_SIZE) tx_wr_index=0;
#endif
++tx_counter;
}
else
UDR=c;
#asm("sei")
}
#pragma used-
#endif

// Standard Input/Output functions
#include <stdio.h>
// Declare your global variables here
struct flags{
char disp_delay;
char adc_state;
char state_ch1;
char state_ch2;
unsigned int ctemp_ch1;
unsigned int ctemp_ch2;
unsigned int ttemp_ch1;
unsigned int ttemp_ch2;
};
struct flags sys_state={0,1,0,0,100,100,0,0};

unsigned int result_adc;

#define INTERVAL 1
#define MAX 100
#define MIN 30
signed int Kp=2,Ki=1,Kd=1;
// Timer2 output compare interrupt service routine
interrupt [TIM2_COMP] void timer2_comp_isr(void)
{
static int my_count=0;
// Place your code here
if(my_count<625)
{
my_count++;
}
else
{
sys_state.disp_delay=0;
my_count=0;
};
}

#define ADC_VREF_TYPE 0x40

// ADC interrupt service routine
interrupt [ADC_INT] void adc_isr(void)
{
// Read the AD conversion result
result_adc=ADCW;
// Place your code here
sys_state.adc_state++;
}

void get_temp(void)
{
if (sys_state.adc_state==1) //запустить АЦП, канал 1...
{
ADMUX=0x40;//канал 1...
ADCSRA=0xCD; // Начать измерение.
sys_state.adc_state++; // Ждать завершения преобразования.
}
if(sys_state.adc_state==3)//преобразование завершилось
{
sys_state.ctemp_ch1=result_adc/2;
sys_state.adc_state++;
}
if(sys_state.adc_state==4) //запустить АЦП, канал 2...
{
ADMUX=0x41;//канал 2...
ADCSRA=0xCD; // Начать измерение.
sys_state.adc_state++;// Ждать завершения преобразования.
}
if(sys_state.adc_state==6)//преобразование завершилось
{
sys_state.ctemp_ch2=result_adc/2;
sys_state.adc_state=1;
}
}
void print_display(void)
{
char buf[5];
if(sys_state.disp_delay)
{
sprintf(buf,"%u",sys_state.ttemp_ch1);
}
else
{
sprintf(buf,"%u",sys_state.ctemp_ch1);
};
lcd_gotoxy(0,0);
lcd_putsf("TempCh1:");
lcd_gotoxy(8,0);
lcd_putsf(" ");
lcd_gotoxy(8,0);
lcd_puts(buf);
lcd_gotoxy(11,0);
if(sys_state.state_ch1)
{
lcd_putsf("On ");
}
else
{
lcd_putsf("Off");
};
//
if(sys_state.disp_delay)
{
sprintf(buf,"%u",sys_state.ttemp_ch2);
}
else
{
sprintf(buf,"%u",sys_state.ctemp_ch2);
};
lcd_gotoxy(0,1);
lcd_putsf("TempCh2:");
lcd_gotoxy(8,1);
lcd_putsf(" ");
lcd_gotoxy(8,1);
lcd_puts(buf);
lcd_gotoxy(11,1);
if(sys_state.state_ch2)
{
lcd_putsf("On ");
}
else
{
lcd_putsf("Off");
};
};
void scan_keys(void)
{
if (PINB.0==0)//запуск\стоп канала 1
{
delay_ms(500);
if(sys_state.state_ch1)
{
sys_state.state_ch1=0;
}
else
{
sys_state.state_ch1=1;
};
};
if (PINB.1==0)//запуск\стоп канала 2
{
if(sys_state.state_ch2)
{
sys_state.state_ch2=0;
}
else
{
sys_state.state_ch2=1;
};
delay_ms(500);
};
if ((PINB.2==0)&(sys_state.ttemp_ch1<350))//температура канала 1 плюс
{
sys_state.disp_delay=1;
sys_state.ttemp_ch1++;
delay_ms(5);
}
if ((PINB.3==0)&(sys_state.ttemp_ch1>0))//температура канала 1 минус
{
sys_state.disp_delay=1;
sys_state.ttemp_ch1--;
delay_ms(5);
}
if ((PINB.4==0)&(sys_state.ttemp_ch2<350))///температура канала 2 плюс
{
sys_state.disp_delay=1;
sys_state.ttemp_ch2++;
delay_ms(5);
}
if ((PINB.5==0)&(sys_state.ttemp_ch2>0))//температура канала 2 минус
{
sys_state.disp_delay=1;
sys_state.ttemp_ch2--;
delay_ms(5);
}
}

void init_mc(void)
{
// 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

PORTB=0x3F;// Func7=In Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In
DDRB=0x00;// State7=T State6=T State5=P State4=P State3=P State2=P State1=P State0=P

// Port C 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
PORTC=0x00;
DDRC=0x00;

// Port D initialization
// Func7=In Func6=In Func5=Out Func4=Out Func3=In Func2=In Func1=In Func0=In
// State7=T State6=T State5=0 State4=0 State3=T State2=T State1=T State0=T
PORTD=0x00;
DDRD=0x30;

// Timer/Counter 0 initialization
// Clock source: System Clock
// Clock value: Timer 0 Stopped
// Mode: Normal top=0xFF
// OC0 output: Disconnected
TCCR0=0x00;
TCNT0=0x00;
OCR0=0x00;

// Timer/Counter 1 initialization
// Clock source: System Clock
// Clock value: Timer1 Stopped
// Mode: Ph. correct PWM top=0x00FF
// OC1A output: Non-Inv.
// OC1B output: Non-Inv.
// Noise Canceler: Off
// Input Capture on Falling Edge
// Timer1 Overflow Interrupt: Off
// Input Capture Interrupt: Off
// Compare A Match Interrupt: Off
// Compare B Match Interrupt: Off
TCCR1A=0xA1;
TCCR1B=0x0A;
TCNT1H=0x00;
TCNT1L=0x00;
ICR1H=0x00;
ICR1L=0x00;
OCR1AH=0x00;
OCR1AL=0x00;
OCR1BH=0x00;
OCR1BL=0x00;

// Timer/Counter 2 initialization
// Clock source: System Clock
// Clock value: 31,250 kHz
// Mode: Normal top=0xFF
// OC2 output: Disconnected
ASSR=0x00;
TCCR2=0x06;
TCNT2=0x00;
OCR2=0x32;

// External Interrupt(s) initialization
// INT0: Off
// INT1: Off
// INT2: Off
MCUCR=0x00;
MCUCSR=0x00;

// Timer(s)/Counter(s) Interrupt(s) initialization
TIMSK=0x80;

// USART initialization
// Communication Parameters: 8 Data, 1 Stop, No Parity
// USART Receiver: On
// USART Transmitter: On
// USART Mode: Asynchronous
// USART Baud Rate: 19200
UCSRA=0x00;
UCSRB=0xD8;
UCSRC=0x86;
UBRRH=0x00;
UBRRL=0x19;

// Analog Comparator initialization
// Analog Comparator: Off
// Analog Comparator Input Capture by Timer/Counter 1: Off
ACSR=0x80;
SFIOR=0x00;

// ADC initialization
// ADC Clock frequency: 250,000 kHz
// ADC Voltage Reference: AVCC pin
// ADC Auto Trigger Source: ADC Stopped
ADMUX=ADC_VREF_TYPE & 0xff;
ADCSRA=0x8D;

// SPI initialization
// SPI disabled
SPCR=0x00;

// TWI initialization
// TWI disabled
TWCR=0x00;

// Alphanumeric LCD initialization
// Connections specified in the
// Project|Configure|C Compiler|Libraries|Alphanumeric LCD menu:
// RS - PORTC Bit 0
// RD - PORTC Bit 1
// EN - PORTC Bit 2
// D4 - PORTC Bit 4
// D5 - PORTC Bit 5
// D6 - PORTC Bit 6
// D7 - PORTC Bit 7
// Characters/line: 16
lcd_init(16);

// Global enable interrupts
#asm("sei")
};
void main(void)
{
// Declare your local variables here

static signed int last_errorCh1;
static signed int last_errorCh2;
signed int P;
signed int D;
static signed int I;
signed int PID;
init_mc();
while (1)
{
// Place your code here
get_temp();
print_display();
scan_keys();
if(sys_state.state_ch1)//если активен - запускаем расчёт нагрева канала 1
{
P = (sys_state.ttemp_ch1 - sys_state.ctemp_ch1);
I = (I + (sys_state.ttemp_ch1 - sys_state.ctemp_ch1) * INTERVAL);
D = (((sys_state.ttemp_ch1 - sys_state.ctemp_ch1) - last_errorCh1) / INTERVAL);
last_errorCh1 = sys_state.ttemp_ch1 - sys_state.ctemp_ch1;
PID = (Kp * P) + (Ki * I) + (Kd * D);
I = (sys_state.ttemp_ch1 - sys_state.ctemp_ch1);// ограничение интеграла
if(PID>255)
{
OCR1A=255;
}
else if(PID<0)
{
OCR1A=0;
}
else
{
OCR1A=PID;
}
}
else
{
OCR1A=0;
};
if(sys_state.state_ch2)//если активен - запускаем расчёт нагрева канала2
{
P = (sys_state.ttemp_ch2 - sys_state.ctemp_ch2);
I = (I + (sys_state.ttemp_ch2 - sys_state.ctemp_ch2) * INTERVAL);
D = (((sys_state.ttemp_ch2 - sys_state.ctemp_ch2) - last_errorCh2) / INTERVAL);
last_errorCh2 = sys_state.ttemp_ch2 - sys_state.ctemp_ch2;
PID = (Kp * P) + (Ki * I) + (Kd * D);
I = (sys_state.ttemp_ch2 - sys_state.ctemp_ch2);// ограничение интеграла
if(PID>255)
{
OCR1B=255;
}
else if(PID<0)
{
OCR1B=0;
}
else
{
OCR1B=PID;
}
}
else
{
OCR1B=0;
};

}
}