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PID 的代码
pid.prj
[Compiler Options]
Edit1=C:\PROGRA~1\icc\include\
Edit2=C:\PROGRA~1\icc\lib\
Edit8=
CheckBox1=0
CheckBox2=1
Edit3=
Edit4=
Edit11=16
Edit13=
ComboBox1=0
Edit9=8192
Edit10=512
ComboBox2=9
pid.dbg
IMAGECRAFT DEBUG FORMAT
VERSION 1.1
CPU AVR
DIR D:\软件\PIDLIB\
FILE PIDTEXT.C
FUNC read_PID_E2P_Value 6E fV
BLOCK 33 70
DEFLOCAL set_Target_value_l 6 c
DEFLOCAL set_Target_value_h 5 c
DEFLOCAL
pid.src
[Files]
PIDTEXT.C
[Headers]
[Documents]
pid.mp
NOTE: AVR Code addresses are word addresses
All other addresses (including ones in FLASH) are byte addresses
Area Addr Size Decimal Bytes (Attributes)
----------
pid.lst
__text_start:
__start:
0017 E5CF LDI R28,0x5F
0018 E0D2 LDI R29,2
0019 BFCD OUT 0x3D,R28
001A BFDE OUT 0x3E,R29
001B 51C0 SUBI R28,0x10
001C 40D
pid.mak
CC = iccavr
CFLAGS = -IC:\PROGRA~1\icc\include\ -e -l -g -Wa-W
ASFLAGS = $(CFLAGS) -Wa-g
LFLAGS = -LC:\PROGRA~1\icc\lib\ -g -Wl-W -bfunc_lit:0x1a.0x2000 -dram_end:0x25f -bdata:0x60.0x25f -dhws
pid.hex
:0200000016C028
:14001A000000000000000000000000000000000000000700CB
:14002E00CFE5D2E0CDBFDEBFC051D0400AEA08830024E4E7A0
:14004200F0E010E0E437F10711F00192FBCF0083EAE1F0E05B
:14005600A0E6B0E010E0EE3
pid.c
float Vh,Vl,Kph,Kpl,Kih,Kil,Kdh,Kdl,Ve;
Kp=(Vpedal-Vl)*(Kph-Kpl)/(Vh-Vl)+Kpl;
Ki=(Vpedal-Vl)*(Kih-Kil)/(Vh-Vl)+Kil;
Kd=(Vpedal-Vl)*(Kdh-Kdl)/(Vh-Vl)+Kdl;
PI(Vfbk,Vpe