main_init.lst

电机PID调速程序

C51 COMPILER V7.06   MAIN_INIT                                                             11/14/2008 21:02:35 PAGE 1   


C51 COMPILER V7.06, COMPILATION OF MODULE MAIN_INIT
OBJECT MODULE PLACED IN main_init.OBJ
COMPILER INVOKED BY: C:\Keil\C51\BIN\C51.EXE main_init.c BROWSE DEBUG OBJECTEXTEND

stmt level    source

   1          #include <ADUC842.H>
   2          #include"motor.h"
   3          #include"PID.h"
   4          #include"feedback.h"
   5          /**************************
   6          初始化：842SFR
   7          /**************************/
   8          void INIT_SFR()
   9          {
  10   1      
  11   1          PLLCON= 0x00;                       //设置MCU的工作频率为16.777216MHz
  12   1              CFG842 = 0x01;                      //设置P2.6,P2.7为PWM 输出端口
  13   1              PWMCON = 0x57;                      //设置双8位PWM，PWM COUNTER frequency clock/4
  14   1                                                                                      //PWM输出频率为16.5KHZ
  15   1              PWM1L  = 250;       
  16   1              PWM1H  = 250;   
  17   1              PWM0L  = 0X00;                                           
  18   1              PWM0H  = 0X00;
  19   1      
  20   1              P1 = 0x00;
  21   1              P2 = 0x00;      
  22   1              P3 = 0xFF;
  23   1              BRAKE_L = 0;
  24   1              BRAKE_R = 0;
  25   1      }
  26          void INIT_COUNTER()
  27          {
  28   1          TMOD = 0x55;                                                  //设置T0,T1为16位计数器 
  29   1              TH0  = 0x00;                                              
  30   1              TL0  = 0x00;
  31   1              TH1  = 0x00;
  32   1              TL1  = 0x00;
  33   1              TR0  = 0;
  34   1              TR1  = 0;
  35   1      }
  36          
  37          /****************************
  38          各种参数初始化
  39          ******************************/
  40          void INIT_PARAMETER()
  41          {
  42   1              V_Kp =0.8;                                      
  43   1              V_Ki =0.35;
  44   1        
  45   1              e_V_L = 0;                                      
  46   1              e1_V_L = 0;                                     
  47   1              e_V_R = 0;
  48   1              e1_V_R = 0;
  49   1              
  50   1              d_u_V_L = 0;                                            
  51   1              d_u_V_R = 0;
  52   1              
  53   1              u_L = 0;
  54   1              u_R = 0;
  55   1      
C51 COMPILER V7.06   MAIN_INIT                                                             11/14/2008 21:02:35 PAGE 2   

  56   1              aim_V_L =0;
  57   1              aim_V_R =0;
  58   1      
  59   1              fb_V_L = 0;
  60   1              fb_V_R = 0;
  61   1      }
  62          


MODULE INFORMATION:   STATIC OVERLAYABLE
   CODE SIZE        =    151    ----
   CONSTANT SIZE    =   ----    ----
   XDATA SIZE       =   ----    ----
   PDATA SIZE       =   ----    ----
   DATA SIZE        =   ----    ----
   IDATA SIZE       =   ----    ----
   BIT SIZE         =   ----    ----
END OF MODULE INFORMATION.


C51 COMPILATION COMPLETE.  0 WARNING(S),  0 ERROR(S)