void execute()
{
if(!back)//perform user commands given
{
if(strcmp(command[0],"quit")==0)
exit(0);
else if(strcmp(command[0],"cd")==0)
cd();
else if(strcmp(command[0],"fg")==0)
{
int com=(int)(command[1][0]-'0');
fg(com);
}
else if(strcmp(command[0],"overkill")==0)
overkill();
else if(strcmp(command[0],"pinfo")==0)
{
if(!ch)
{
strcpy(list[p5].process,"pinfo");
list[p5].back=0;
}
if(command[1][0]==0)//if only single argument given with pinfo command
pinfo();
else
{
int i=0,comm1,number=0,num1;
int len1=strlen(command[1]);
if(len1==4)
num1=10*10*10;
else if(len1==3)
num1=10*10;
else if(len1==2)
num1=10;
else if(len1==1)
num1=1;
while(i<len1)
{
comm1=(int)(command[1][i]-'0');
number=num1*comm1+number;
num1=num1/10;
i++;
}
pid1(number);
}
}
else if(strcmp(command[0],"jobs")==0)
{
if(!ch)
{
strcpy(list[p5].process,"jobs");
list[p5].back=0;
}
jobs();
}
else if(strcmp(command[0],"grep")==0)
grep();
else if(strcmp(command[0],"kjob")==0)
{
int comm=command[1][0]-'0';
int comm2=(int)(command[2][0]-'0');
char *c1=command[1][0];
char *c2=command[2][0];
kjob((c1),(c2));
}
else if(strcmp(command[0],"exit")==0)
fprintf(stderr,"The command is quit\n");
else//for system defined commands
{
if(!ch)
{
strcpy(list[p5].process,command[0]);
list[p5].back=0;
}
int returnval=fork();
if(returnval)
{
list[p5++].pid=returnval;
waitpid(returnval,&returnval,0);
}
else
{
int i2=0;
char arguments[101];
char *args[argvals+1];
while(i2<argvals)
{
args[i2]=(char*)malloc(101*sizeof(char));
strcpy(args[i2],command[i2]);
i2++;
}
args[i2]=NULL;
int flag2=1;
if(redir_in)//incase of redirection
{
if(redir_in<argvals -1)
{
freopen(command[redir_in + 1],"r",stdin);
args[redir_in]=NULL;
}
else
{
fprintf(stderr,"Give filename for redirection\n");
exit(0);
}
}
if(redir_out)
{
if(redir_out < argvals -1)
{
freopen(command[redir_out + 1],"w",stdout);
args[redir_out]=NULL;
}
else
{
fprintf(stderr,"Give filename for redirection\n");
exit(0);
}
}
printf("%s",*args);
flag2=0;
execvp(args[0],args);//execute the command in arg
fprintf(stderr,"Not a valid shell command\n");
exit(0);
}
}
}
else
{
if(!ch)
{
strcpy(list[p5].process,command[0]);
list[p5].back=1;
}
int returnval=fork();
if(returnval)
{
if(!ch)
list[p5++].pid=returnval;
printf("Command %s\t Pid %d\n",command[0],returnval);
}
else
{
int i2=0;
int flag3=0;
char *args[argvals];
while(i2<back)
{
args[i2]=(char*)malloc(101*sizeof(char));
strcpy(args[i2],command[i2]);
i2++;
flag3=1;
}
args[i2]=NULL;
execvp(args[0],args);//execute the command in args
fprintf(stderr,"Not a valid Shell command\n");
exit(0);
}
}
}
void TIM8_UP_TIM13_IRQHandler(void)
{
float I1 = 0, I2 = 0, power = 0;
static float percent = 0, percent1 = 0 ;
float error_pid = 0;
static uint16_t interrupt_times = 0;
// static uint8_t flag_modbus = 0;
// rt_enter_critical();/*调度器上锁*/
rt_interrupt_enter();
logic_out(1,1);
I1 = adc_get(0);//电流值
// I2 = adc_get(1);
power = adc_get(2);//功率百分比
trig_adc();
if(interrupt_times < 500)
{
p_get[interrupt_times] = power;
i_get[interrupt_times] = I1;
}
if(TIM_GetITStatus(TIM8, TIM_IT_Update) != RESET)
{
TIM_ClearITPendingBit(TIM8, TIM_IT_Update);
if(pwm_struct[select_pwm].mode == 0)
{
// TIM_SetCompare1(TIM8, (uint16_t)(percent * pwm_period));
if(interrupt_times < pwm_struct[select_pwm]. positive_pulse)
{
pwm_struct[select_pwm].busy_flag = 1;
pwm_ena(1);
{
error_pid = pwm_struct[select_pwm].p_array[interrupt_times] \
* program_data[select_pwm].current_max - I1;
// logic_out(1,1);
percent = pid3(error_pid);
// logic_out(1,0);
if(percent > 0.98f) percent = 0.98f;
if(percent < 0.0f) percent = 0.0f;
// percent = 0.3f;
interrupt_times++;
}
}
else
{
interrupt_times++;
percent = 0;
if( interrupt_times > pwm_struct[select_pwm].positive_pulse + pwm_struct[select_pwm].negative_pulse)
{
TIM_Cmd(TIM8, DISABLE);
TIM_ClearITPendingBit(TIM8, TIM_IT_Update);
pwm_ena(0);
interrupt_times = 0;
pwm_struct[select_pwm].busy_flag = 0;
IntTerm_C3 = 0;
PrevError_C3 = 0;
}
}
}
else
{
if(interrupt_times < pwm_struct[select_pwm]. positive_pulse)
{
pwm_struct[select_pwm].busy_flag = 1;
pwm_ena(1);
{
// logic_out(1,1);
error_pid = pwm_struct[select_pwm].p_array[interrupt_times] - power;
percent1 = pid1(error_pid);//percent1为计算得出的电流值
if(percent1 > program_data[select_pwm].current_max)
percent1 = program_data[select_pwm].current_max;
if(percent1 < 0.0f) percent1 = 0.0f;
error_pid = percent1 - I1;
percent = pid3(error_pid);
// logic_out(1,0);
if(percent > 0.98f) percent = 0.98f;
if(percent < 0.0f) percent = 0.0f;
// percent = 0.3f;
interrupt_times++;
}
}
else
{
interrupt_times++;
percent = 0;
if( interrupt_times > pwm_struct[select_pwm].positive_pulse + pwm_struct[select_pwm].negative_pulse)
{
TIM_Cmd(TIM8, DISABLE);
TIM_ClearITPendingBit(TIM8, TIM_IT_Update);
pwm_ena(0);
interrupt_times = 0;
pwm_struct[select_pwm].busy_flag = 0;
IntTerm_C3 = 0;
PrevError_C3 = 0;
IntTerm_C1 = 0;
PrevError_C1 = 0;
}
}
}
TIM_SetCompare1(TIM8, (uint16_t)(pwm_period * percent));
if(interrupt_times < 500)
{
pid_out[interrupt_times] = percent;
code[interrupt_times] = TIM8->CCR1;
}
}
logic_out(1,0);
rt_interrupt_leave();
// rt_exit_critical();/* 退出临界区*/
}
