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时间：10-02 整理：3721RD 点击：

         #include <C8051F040.h>
   #include <string.h>
   #define T2RUN temppage=SFRPAGE;SFRPAGE=0x00;TR2=1;SFRPAGE=temppage
   #define T4RUN temppage=SFRPAGE;SFRPAGE=0x02;TR4=1;SFRPAGE=temppage
   #define T4STOP temppage=SFRPAGE;SFRPAGE=0x02;TR4=0;SFRPAGE=temppage
   #define T2STOP temppage=SFRPAGE;SFRPAGE=0x00;TR2=0;SFRPAGE=temppage
   typedef unsigned int  uint;
   typedef unsigned long ulong;
   typedef unsigned char uchar;
   float y;
         uchar temppage;
   uint Error,tempi,verror;
   typedef struct PID{
         uint setpoint;       /*设定值*/
         uint proportion;    /*比例系数*/
         uint integral;       /*积分系数*/
         uint derivative;    /*微分系数 */
         uint lasterror;    /*前一拍误差*/
         uint preerror;       /*前两拍误差*/
                           }PID;
   PID vPID;
   union stu{
         uint value;
         uchar num[2];
                     }laser;
/* void PIDInit(PID *pp)
      {
         memset (pp,0,sizeof(pp));
                                 }*/
   void T2_ini(){
   temppage=SFRPAGE;
   SFRPAGE=0x00;
   TMR2CN=0x02;          //T2工作在计数状态自动重载装置
   TMR2CF=0x00;
   TMR2H=0x00;
   TMR2L=0x00;
   RCAP2L=0x00;
         RCAP2H=0x00;
            SFRPAGE=temppage;
   }
   void T4_ini(){
temppage=SFRPAGE;
SFRPAGE=0x02;
TMR4H=(65536-2000)/256;
TMR4L=(65536-2000)%256;
      TMR4CN=0x00;
         TMR4CF=0x02;    //采用系统时钟12分频
         RCAP4L=0x3F;
         RCAP4H=0xB0;    //定时10ms
         SFRPAGE=temppage;
EIE2|=0x04;    //开启中断
SFRPAGE=temppage;
                  }
   void pca0ini(){
   SFRPAGE=0x00;    //CEX0 为8位PWM输出模式，频率为
   PCA0CPM0=0x42;
               }
   void PWM0_set(uchar low){
   SFRPAGE=0x00;
   PCA0CPH0=low;    //设置占空比
                        }
   void pcaini(){
   SFRPAGE=0x00;
   PCA0MD=0x00;       //PCA采用系统时钟12分频，禁止PCA中断
   PCA0CN=0x40;       //启动PCA计数
                  }

void config(){
WDTCN=0x07;
WDTCN=0xde;
WDTCN=0xad;
SFRPAGE=0x0f;       //交叉开关配置，TX0=P0.0，RX0=P0.1，CEX0=P0.2，CEX1=P0.3 CEX2=P0.4    CEX3=P0.4    CEX4=P1.0 CEX5=P1.1
XBR0=0x34;
XBR1=0x20;             // T2=P1.3
XBR2=0x42;          //跳过P0.5，P0.6 ，P0.7
XBR3=0x00;
SFRPAGE=0x0f;
P0MDOUT=0xff;    //P0 P1 位推挽输出
P1MDOUT=0xff;
P2MDOUT=0xff;
P1MDIN=0xff;
//采用内部晶振1分频
SFRPAGE=0x0f;
CLKSEL=0x00;
OSCXCN=0x00;
OSCICN=0x83;
               }
      /*PID算法函数，返回误差增量*/
      uint PIDcal(PID *pp,char thisError){
      int pError,dError,iError;
      int templ;
      pError=thisError-pp->lasterror;
      iError=thisError;
      dError=thisError-2*(pp->lasterror)+pp->preerror;
      templ=(pp->proportion)*pError+(pp->integral)*iError+(pp->derivative)*dError; /*增量计算*/
      pp->preerror=pp->lasterror;  /*存放误差用于下次运算*/
      pp->lasterror=thisError;
      return ((uint)(templ>>4));
                                 }
/* void delay1ms(uint time){    //延时1 ms
   uint i;
   uint j;
   for(i=0;i<time;i++)
      for(j=0;j<300;j++);

                           }*/
void main(){
   // PIDInit(&vPID);
   vPID.preerror=0;
   vPID.lasterror=0;
   vPID.proportion=2.5;    /*设置PID比例系数为*/
         vPID.integral=2.5;       /*设定PID积分系数为*/
         vPID.derivative=0.001;  /*设定PID微分系数为*/
         vPID.setpoint=30;    /*根据实际情况设定*/
      config();
pcaini();
pca0ini();
T4_ini();
T2_ini();
      EA=1;
T2RUN;
T4RUN;
      while(1){

               }
                        }

         void T4_rupt() interrupt 16
{
   xdata uchar  lowset; /*误差增量*/
   TF4=0;
   T2STOP;
   temppage=SFRPAGE;
   SFRPAGE=0x00;
   y=(TMR2H*256+TMR2L)*6;
   TMR2H=0x00;
   TMR2L=0x00;
   SFRPAGE=temppage;
   verror=(int)y;  /*得到T4的计数值 */
            Error=(vPID.setpoint)-verror; /*得到误差值*/
            tempi=PIDcal(&vPID,Error); /*调用PID算法函数得到误差增量*/
            laser.value+=tempi;
   if(laser.value>=255)
               laser.value =255;
            else if(laser.value<=20)
                  laser.value=22;
            else
   laser.value=laser.value;
      lowset=255-laser.value;
               PWM0_set(lowset);
               T2RUN;
                              }
大神帮忙看看这是产生Pwm波的吗是的话在哪里可以更改初始占空比 2607386161QQ联系谢谢紧急情况是C8051F040单片机

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