p30f4011.h

PID算法的介绍和应用,在很多场合需要,详细的事例说明

extern volatile unsigned int IC8BUF __attribute__((__near__));

/* IC8CON: Input Capture 8 Control Register */
extern volatile unsigned int IC8CON __attribute__((__near__));
extern volatile ICxCONBITS IC8CONbits __attribute__((__near__));


/* --------------------------------------- */
/* Output Compare/PWM register definitions */
/* --------------------------------------- */

/* Generic structure of entire SFR area for each Output Compare module */
typedef struct tagOC {
        unsigned int ocxrs;
        unsigned int ocxr;
        unsigned int ocxcon;
} OC, *POC;

/* SFR blocks for each Output Compare module */
extern volatile OC OC1 __attribute__((__near__));
extern volatile OC OC2 __attribute__((__near__));
extern volatile OC OC3 __attribute__((__near__));
extern volatile OC OC4 __attribute__((__near__));

/* Generic structure for Output Compare Control Registers */
typedef struct tagOCxCONBITS {
        unsigned OCM    :3;
        unsigned OCTSEL :1;
        unsigned OCFLT  :1;
        unsigned        :8;
        unsigned OCSIDL :1;
        unsigned        :2;
} OCxCONBITS;

/* OC1RS: Output Compare 1 Secondary Register */
extern volatile unsigned int OC1RS __attribute__((__near__));

/* OC1R: Output Compare 1 Main Register */
extern volatile unsigned int OC1R __attribute__((__near__));

/* OC1CON: Output Compare 1 Control Register */
extern volatile unsigned int OC1CON __attribute__((__near__));
extern volatile OCxCONBITS OC1CONbits __attribute__((__near__));

/* OC2RS: Output Compare 2 Secondary Register */
extern volatile unsigned int OC2RS __attribute__((__near__));

/* OC2R: Output Compare 2 Main Register */
extern volatile unsigned int OC2R __attribute__((__near__));

/* OC2CON: Output Compare 2 Control Register */
extern volatile unsigned int OC2CON __attribute__((__near__));
extern volatile OCxCONBITS OC2CONbits __attribute__((__near__));

/* OC3RS: Output Compare 3 Secondary Register */
extern volatile unsigned int OC3RS __attribute__((__near__));

/* OC3R: Output Compare 3 Main Register */
extern volatile unsigned int OC3R __attribute__((__near__));

/* OC3CON: Output Compare 3 Control Register */
extern volatile unsigned int OC3CON __attribute__((__near__));
extern volatile OCxCONBITS OC3CONbits __attribute__((__near__));

/* OC4RS: Output Compare 4 Secondary Register */
extern volatile unsigned int OC4RS __attribute__((__near__));

/* OC4R: Output Compare 4 Main Register */
extern volatile unsigned int OC4R __attribute__((__near__));

/* OC4CON: Output Compare 4 Control Register */
extern volatile unsigned int OC4CON __attribute__((__near__));
extern volatile OCxCONBITS OC4CONbits __attribute__((__near__));


/* -------------------------------------- */
/* Motor Control PWM register definitions */
/* -------------------------------------- */

/* PTCON: PWM Timerbase Control Register */
extern volatile unsigned int PTCON __attribute__((__near__));
typedef struct tagPTCONBITS {
        unsigned PTMOD  :2;
        unsigned PTCKPS :2;
        unsigned PTOPS  :4;
        unsigned        :5;
        unsigned PTSIDL :1;
        unsigned        :1;
        unsigned PTEN   :1;
} PTCONBITS;
extern volatile PTCONBITS PTCONbits __attribute__((__near__));

/* PTMR: PWM Timebase Count Register */
extern volatile unsigned int PTMR __attribute__((__near__));
typedef struct tagPTMRBITS {
        unsigned PTMR   :15;
        unsigned PTDIR  :1;
} PTMRBITS;
extern volatile PTMRBITS PTMRbits __attribute__((__near__));

/* PTPER: PWM Timebase Period Register */
extern volatile unsigned int PTPER __attribute__((__near__));
typedef struct tagPTPERBITS {
        unsigned PTPER  :15;
        unsigned        :1;
} PTPERBITS;
extern volatile PTPERBITS PTPERbits __attribute__((__near__));

/* SEVTCMP: Special Event Compare Count Register */
extern volatile unsigned int SEVTCMP __attribute__((__near__));
typedef struct tagSEVTCMPBITS {
        unsigned SEVTCMP:15;
        unsigned SEVTDIR:1;
} SEVTCMPBITS;
extern volatile SEVTCMPBITS SEVTCMPbits __attribute__((__near__));

/* PWMCON1: PWM Control Register 1 */
extern volatile unsigned int PWMCON1 __attribute__((__near__));
typedef struct tagPWMCON1BITS {
        unsigned PEN1L  :1;
        unsigned PEN2L  :1;
        unsigned PEN3L  :1;
        unsigned        :1;
        unsigned PEN1H  :1;
        unsigned PEN2H  :1;
        unsigned PEN3H  :1;
        unsigned        :1;
        unsigned PMOD1  :1;
        unsigned PMOD2  :1;
        unsigned PMOD3  :1;
        unsigned        :5;
} PWMCON1BITS;
extern volatile PWMCON1BITS PWMCON1bits __attribute__((__near__));

/* PWMCON2: PWM Control Register 2 */
extern volatile unsigned int PWMCON2 __attribute__((__near__));
typedef struct tagPWMCON2BITS {
        unsigned UDIS   :1;
        unsigned OSYNC  :1;
        unsigned IUE    :1; 
        unsigned        :5;
        unsigned SEVOPS :4;
        unsigned        :4;
} PWMCON2BITS;
extern volatile PWMCON2BITS PWMCON2bits __attribute__((__near__));

/* DTCON1: PWM Dead Time Control Register 1 */
extern volatile unsigned int DTCON1 __attribute__((__near__));
typedef struct tagDTCON1BITS {
        unsigned DTA    :6;
        unsigned DTAPS  :2;
        unsigned        :8;
} DTCON1BITS;
extern volatile DTCON1BITS DTCON1bits __attribute__((__near__));

/* FLTACON: PWM Fault Input A Control Register */ 
extern volatile unsigned int FLTACON __attribute__((__near__));
typedef struct tagFLTACONBITS {
        unsigned FAEN1  :1;
        unsigned FAEN2  :1;
        unsigned FAEN3  :1;
        unsigned        :4;
        unsigned FLTAM  :1;
        unsigned FAOV1L :1;
        unsigned FAOV1H :1;
        unsigned FAOV2L :1;
        unsigned FAOV2H :1;
        unsigned FAOV3L :1;
        unsigned FAOV3H :1;
        unsigned        :2;
} FLTACONBITS;
extern volatile FLTACONBITS FLTACONbits __attribute__((__near__));

/* OVDCON: PWM Override Control Register */
extern volatile unsigned int OVDCON __attribute__((__near__));
typedef struct tagOVDCONBITS {
        unsigned POUT1L :1;
        unsigned POUT1H :1;
        unsigned POUT2L :1;
        unsigned POUT2H :1;
        unsigned POUT3L :1;
        unsigned POUT3H :1;
        unsigned        :2;
        unsigned POVD1L :1;
        unsigned POVD1H :1;
        unsigned POVD2L :1;
        unsigned POVD2H :1;
        unsigned POVD3L :1;
        unsigned POVD3H :1;
        unsigned        :2;
} OVDCONBITS;
extern volatile OVDCONBITS OVDCONbits __attribute__((__near__));

/* PDC1: PWM Duty Cycle Register 1 */
extern volatile unsigned int PDC1 __attribute__((__near__));

/* PDC2: PWM Duty Cycle Register 2 */
extern volatile unsigned int PDC2 __attribute__((__near__));

/* PDC3: PWM Duty Cycle Register 3 */
extern volatile unsigned int PDC3 __attribute__((__near__));


/* ------------------------ */
/* I2C register definitions */
/* ------------------------ */

/* I2CRCV: I2C Receive Register */
extern volatile unsigned char I2CRCV __attribute__((__near__));
typedef struct tagI2CRCVBITS {
        unsigned I2CRCV0:1;
        unsigned I2CRCV1:1;
        unsigned I2CRCV2:1;
        unsigned I2CRCV3:1;
        unsigned I2CRCV4:1;
        unsigned I2CRCV5:1;
        unsigned I2CRCV6:1;
        unsigned I2CRCV7:1;
} I2CRCVBITS;
extern volatile I2CRCVBITS I2CRCVbits __attribute__((__near__));

/* I2CTRN: I2C Transmit Register */
extern volatile unsigned char I2CTRN __attribute__((__near__));
typedef struct tagI2CTRNBITS {
        unsigned I2CTRN0:1;
        unsigned I2CTRN1:1;
        unsigned I2CTRN2:1;
        unsigned I2CTRN3:1;
        unsigned I2CTRN4:1;
        unsigned I2CTRN5:1;
        unsigned I2CTRN6:1;
        unsigned I2CTRN7:1;
} I2CTRNBITS;
extern volatile I2CTRNBITS I2CTRNbits __attribute__((__near__));

/* I2CBRG: I2C Baud Rate Generator Register */
extern volatile unsigned int I2CBRG __attribute__((__near__));
typedef struct tagI2CBRGBITS {
        unsigned I2CBRG :9;
        unsigned        :7;
} I2CBRGBITS;
extern volatile I2CBRGBITS I2CBRGbits __attribute__((__near__));

/* I2CCON: I2C Control Register */
extern volatile unsigned int I2CCON __attribute__((__near__));
typedef struct tagI2CCONBITS {
        unsigned SEN    :1;
        unsigned RSEN   :1;
        unsigned PEN    :1;
        unsigned RCEN   :1;
        unsigned ACKEN  :1;
        unsigned ACKDT  :1;
        unsigned STREN  :1;
        unsigned GCEN   :1;
        unsigned SMEN   :1;
        unsigned DISSLW :1;
        unsigned A10M  :1;
        unsigned IPMIEN :1;
        unsigned SCLREL :1;
        unsigned I2CSIDL:1;
        unsigned        :1;
        unsigned I2CEN  :1;
} I2CCONBITS;
extern volatile I2CCONBITS I2CCONbits __attribute__((__near__));

/* I2CSTAT: I2C Status Register */
extern volatile unsigned int I2CSTAT __attribute__((__near__));
typedef struct tagI2CSTATBITS {
        unsigned TBF    :1;
        unsigned RBF    :1;
        unsigned R_W    :1;
        unsigned S      :1;
        unsigned P      :1;
        unsigned D_A    :1;
        unsigned I2COV  :1;
        unsigned IWCOL  :1;
        unsigned ADD10  :1;
        unsigned GCSTAT :1;
        unsigned BCL    :1;
        unsigned        :3;
        unsigned TRSTAT :1;
        unsigned ACKSTAT:1;
} I2CSTATBITS;
extern volatile I2CSTATBITS I2CSTATbits __attribute__((__near__));

/* I2CADD: I2C Address Register */
extern volatile unsigned int I2CADD __attribute__((__near__));
typedef struct tagI2CADDBITS {
        unsigned I2CADD :10;
        unsigned        :6;
} I2CADDBITS;
extern volatile I2CADDBITS I2CADDbits __attribute__((__near__));


/* -------------------------- */
/* UART1 register definitions */
/* -------------------------- */

/* Generic structure of entire SFR area for each UART module */
typedef struct tagUART {
        unsigned int uxmode;
        unsigned int uxsta;
        unsigned int uxtxreg;
        unsigned int uxrxreg;
        unsigned int uxbrg;
} UART, *PUART;

/* SFR blocks for each UART module */
extern volatile UART UART1 __attribute__((__near__));
extern volatile UART UART2 __attribute__((__near__));

/* Generic structure for UART Mode Registers */
typedef struct tagUxMODEBITS {
        unsigned STSEL  :1;
        unsigned PDSEL  :2;
        unsigned        :2;
        unsigned ABAUD  :1;
        unsigned LPBACK :1;
        unsigned WAKE   :1;
        unsigned        :2;
        unsigned ALTIO  :1;
        unsigned        :2;
        unsigned USIDL  :1;
        unsigned        :1;
        unsigned UARTEN :1;
} UxMODEBITS;

/* Generic structure for UART Status and Control Registers */
typedef struct tagUxSTABITS {
        unsigned URXDA  :1;
        unsigned OERR   :1;
        unsigned FERR   :1;
        unsigned PERR   :1;
        unsigned RIDLE  :1;
        unsigned ADDEN  :1;
        unsigned URXISEL:2;
        unsigned TRMT   :1;
        unsigned UTXBF  :1;
        unsigned UTXEN  :1;
        unsigned UTXBRK :1;
        unsigned        :3;
        unsigned UTXISEL:1;
} UxSTABITS; 

/* Generic structure for UART Transmit Registers */
typedef struct tagUxTXREGBITS {
        unsigned UTXREG0:1;
        unsigned UTXREG1:1;
        unsigned UTXREG2:1;
        unsigned UTXREG3:1;
        unsigned UTXREG4:1;
        unsigned UTXREG5:1;
        unsigned UTXREG6:1;
        unsigned UTXREG7:1;
        unsigned UTX8   :1;
        unsigned        :7;
} UxTXREGBITS;

/* Generic structure for UART Receive Registers */
typedef struct tagUxRXREGBITS {
        unsigned URXREG0:1;
        unsigned URXREG1:1;
        unsigned URXREG2:1;
        unsigned URXREG3:1;
        unsigned URXREG4:1;
        unsigned URXREG5:1;
        unsigned URXREG6:1;