main_init.c

电机PID调速程序

#include <ADUC842.H>
#include"motor.h"
#include"PID.h"
#include"feedback.h"
/**************************
初始化：842SFR
/**************************/
void INIT_SFR()
{

    PLLCON= 0x00;                       //设置MCU的工作频率为16.777216MHz
   	CFG842 = 0x01;                      //设置P2.6,P2.7为PWM 输出端口
	PWMCON = 0x57;                      //设置双8位PWM，PWM COUNTER frequency clock/4
										//PWM输出频率为16.5KHZ
	PWM1L  = 250;	    
	PWM1H  = 250;	
	PWM0L  = 0X00; 						 
	PWM0H  = 0X00;

	P1 = 0x00;
	P2 = 0x00;	
	P3 = 0xFF;
	BRAKE_L = 0;
	BRAKE_R = 0;
}
void INIT_COUNTER()
{
    TMOD = 0x55;						  //设置T0,T1为16位计数器 
	TH0  = 0x00;						  
	TL0  = 0x00;
	TH1  = 0x00;
	TL1  = 0x00;
	TR0  = 0;
	TR1  = 0;
}

/****************************
各种参数初始化
******************************/
void INIT_PARAMETER()
{
	V_Kp =0.8;					
	V_Ki =0.35;
  
	e_V_L = 0;					
	e1_V_L = 0;					
	e_V_R = 0;
	e1_V_R = 0;
	
	d_u_V_L = 0;						
	d_u_V_R = 0;
	
	u_L = 0;
	u_R = 0;

	aim_V_L =0;
	aim_V_R =0;

	fb_V_L = 0;
	fb_V_R = 0;
}