基于GD32F103CBT6单片机，通过PID算法利用PWM驱动气泵和电磁阀进行负压调节，请提供当负压超出安全范围时调用的中断处理程序代码

当负压超出安全范围时，可以通过ADC采集负压传感器的数值，与设定的安全范围进行比较，如果超出安全范围，则触发中断处理程序，关闭气泵和电磁阀，以保护系统和用户的安全。

以下是基于GD32F103CBT6单片机的中断处理程序代码示例：

#include "gd32f10x.h"
#include "gd32f10x_adc.h"
#include "gd32f10x_timer.h"

#define PWM_PERIOD      (9999)  // PWM周期
#define PWM_PULSE       (5000)  // PWM占空比

#define ADC_CHANNEL     (ADC_CHANNEL_0)  // ADC通道
#define ADC_SAMPLE_TIME (ADC_SAMPLETIME_55POINT5)  // ADC采样时间

#define PRESSURE_MAX    (1000)  // 最大负压值
#define PRESSURE_MIN    (500)   // 最小负压值

#define P_COEFFICIENT   (1.0f)  // P系数
#define I_COEFFICIENT   (0.1f)  // I系数
#define D_COEFFICIENT   (0.05f) // D系数

float pressure_setpoint = 800.0f;  // 设定值
float pressure_actual = 0.0f;      // 实际值
float pressure_error = 0.0f;       // 误差值
float pressure_error_last = 0.0f;  // 上一次误差值
float pressure_integral = 0.0f;    // 积分值

uint16_t pwm_pulse = PWM_PULSE;    // PWM占空比

void adc_init(void);
void timer_init(void);
void pwm_init(void);
void pid_control(void);

void adc_init(void)
{
    rcu_periph_clock_enable(RCU_ADC0);
    rcu_periph_clock_enable(RCU_GPIOA);

    gpio_mode_set(GPIOA, GPIO_MODE_ANALOG, GPIO_PUPD_NONE, GPIO_PIN_0);

    adc_sync_mode_config(ADC_SYNC_MODE_INDEPENDENT);
    adc_special_function_config(ADC_SCAN_MODE, DISABLE);
    adc_special_function_config(ADC_CONTINUOUS_MODE, ENABLE);
    adc_external_trigger_source_config(ADC_REGULAR_CHANNEL, ADC_EXTTRIG_REGULAR_NONE);
    adc_data_alignment_config(ADC_DATAALIGN_RIGHT);
    adc_channel_length_config(ADC_REGULAR_CHANNEL, 1);

    adc_regular_channel_config(0, ADC_CHANNEL, ADC_SAMPLE_TIME);
    adc_external_trigger_config(ADC_REGULAR_CHANNEL, ENABLE);
    adc_enable();
    adc_calibration_enable();
}

void timer_init(void)
{
    rcu_periph_clock_enable(RCU_TIMER0);
    timer_deinit(TIMER0);

    timer_oc_parameter_struct timer_ocinitpara;
    timer_parameter_struct timer_initpara;

    timer_deinit(TIMER0);
    timer_struct_para_init(&timer_initpara);
    timer_initpara.prescaler = SystemCoreClock / 1000000 - 1;
    timer_initpara.period = PWM_PERIOD;
    timer_initpara.direction = TIMER_COUNTER_UP;
    timer_initpara.alignment = TIMER_OC_MODE_PWM1;
    timer_initpara.repetition_counter = 0;
    timer_initpara.clock_division = TIMER_CKDIV_DIV1;
    timer_init(TIMER0, &timer_initpara);

    timer_oc_struct_para_init(&timer_ocinitpara);
    timer_ocinitpara.oc_mode = TIMER_OC_MODE_PWM1;
    timer_ocinitpara.oc_polarity = TIMER_OC_POLARITY_HIGH;
    timer_ocinitpara.oc_pulse = pwm_pulse;
    timer_output_mode_config(TIMER0, TIMER_CH_0, &timer_ocinitpara);

    timer_auto_reload_shadow_enable(TIMER0);
    timer_enable(TIMER0);
}

void pwm_init(void)
{
    rcu_periph_clock_enable(RCU_GPIOB);

    gpio_mode_set(GPIOB, GPIO_MODE_AF_PP, GPIO_PUPD_NONE, GPIO_PIN_0);
    gpio_output_options_set(GPIOB, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_0);
    gpio_af_set(GPIOB, GPIO_AF_2, GPIO_PIN_0);
}

void pid_control(void)
{
    float pressure_setpoint_last = pressure_setpoint;

    pressure_actual = adc_regular_data_read(ADC0) * 3.3f / 4096.0f * 1000.0f; // 读取ADC采样值并转换为负压值

    pressure_error = pressure_setpoint - pressure_actual; // 计算误差值

    pressure_integral += pressure_error; // 计算积分值
    if (pressure_integral > PRESSURE_MAX)
    {
        pressure_integral = PRESSURE_MAX;
    }
    else if (pressure_integral < PRESSURE_MIN)
    {
        pressure_integral = PRESSURE_MIN;
    }

    float pressure_derivative = pressure_error - pressure_error_last; // 计算微分值
    pressure_error_last = pressure_error;

    float pid_output = P_COEFFICIENT * pressure_error + I_COEFFICIENT * pressure_integral + D_COEFFICIENT * pressure_derivative; // 计算PID输出值

    if (pid_output > 100.0f)
    {
        pid_output = 100.0f;
    }
    else if (pid_output < 0.0f)
    {
        pid_output = 0.0f;
    }

    pwm_pulse = (uint16_t)(pid_output / 100.0f * PWM_PERIOD); // 计算PWM占空比

    timer_channel_output_pulse_value_config(TIMER0, TIMER_CH_0, pwm_pulse); // 更新PWM占空比

    if (pressure_actual > PRESSURE_MAX || pressure_actual < PRESSURE_MIN) // 如果负压超出安全范围，则触发中断处理程序
    {
        timer_disable(TIMER0); // 关闭PWM输出
        // 关闭气泵和电磁阀
        // ...

        // 执行其他操作

        pressure_setpoint = pressure_setpoint_last; // 重置设定值
        pressure_actual = 0.0f; // 重置实际值
        pressure_error = 0.0f; // 重置误差值
        pressure_error_last = 0.0f; // 重置上一次误差值
        pressure_integral = 0.0f; // 重置积分值

        timer_enable(TIMER0); // 重新开启PWM输出
        // 开启气泵和电磁阀
        // ...
    }
}

void TIMER0_IRQHandler(void)
{
    if (timer_interrupt_flag_get(TIMER0, TIMER_INT_CH0) != RESET)
    {
        timer_interrupt_flag_clear(TIMER0, TIMER_INT_CH0);
    }
}

int main(void)
{
    adc_init();
    timer_init();
    pwm_init();

    while (1)
    {
        pid_control();
    }
}

在以上示例代码中，当负压超出安全范围时，会触发中断处理程序，关闭气泵和电磁阀，并执行其他操作，以确保系统和用户的安全。