直流无刷电机控制PIC程序(全部整合)

#include <pic168xa.h> //2008.4.24--14点00分#include <math.h>#include <stdlib.h>int charge_delay,jm,lkk,trial,run_num,protect_num;char m,n,k,s,L,tri;char hall_num; //循环次数char hall_number; //1+3+2+10+8+9=33(一个循环和)，hallless_protect()int pwm_hi; // pwm占空比上限int pwm_cycle; // pwm周期int pwm_lo; // pwm占空比下限,由A/D结果确定int pwm_real; // pwm占空比实际int ad_result; // A/D转换结果bit ghy,run_flag; //运行标志---0，未运行，停止bit flag_autohand; //开始为-----自动void delay(delay_num)int delay_num;{int j;for (j=delay_num;j>1;j--){asm("nop");}}union adres{int y1;unsigned char adre[2];}adresult;void para_chushihua(){protect_num=0;trial=0b10110000;tri=0x00;lkk=10;hall_num=0x00;hall_number=0x00;run_flag=0; //运行标志---0，未运行，停止flag_autohand=1; //开始为-----自动pwm_cycle= 240; // pwm周期// pwm_hi=pwm_cycle-5; // pwm占空比上限pwm_hi=pwm_cycle-1; // pwm占空比上限pwm_real=pwm_cycle; // 实际pwm占空比为pwm周期上限pwm_lo=0x0A; //设定下限+++++++++++++++++++++++++++++++++++++++++++++++}void nointerupt_chushihua(){INTCON=0X00; //禁止中断}void Io_chushihua(){// ADCON1=0x8e; //RA0/AN0--VOLTAGE 电压采样,右对齐1 ADCON1=0x86; //设定RA0--RA6设定为I/O口；TRISA =0x09; //RA0---PROTECT保护（电流保护和过温保护）--输出,0--不保护,1--保护;//RA1----PSW1，继电器,输出,0,电源接通//RA2----指示灯,输出0--->>//RA3----按键,加,输入 1//RA4----指示灯,输出0--->>//RA5----RSW1,继电器，输出0，软启充电PORTA=PORTA&0x09; //RA1=0,----输出低电平，PSW1，继电器断//RA2=0,----输出低电平，指示灯灭//RA4=0,----输出低电平，指示灯灭//RA5=0,----输出低电平，RSW1，继电器断RBPU=0; //RB端口内部弱上拉电路禁止TRISB =0xfe; //RB7=1, 空----输入//RB6=1----HA,输入//RB5=1----HB,输入//RB4=1----HC,输入//RB3=1----停,输入，按钮//RB2=1----启,输入，按钮//RB1=1----自/手选择，输入，开关//RB0=0----ST/STOP，输出，控制GAL PORTB=PORTB&0xfe; //RB0=0,----输出低电平，禁止GAL输出TRISC =0x02; //RC7---A1+,PWMA1+,输出0//RC6---A1, 输出0//RC5---B1+,输出0//RC4---B1,输出0//RC3---C1+,输出0//RC2---CCP1(PWM),输出,死区0//RC1----减，输入，按钮 1//RC0---C1,输出0 PORTC=0x06;}void protect(){ //过流和过温保护GIE=0; //关全局中断pwm_real=pwm_hi; //PWM_real----PWM实时值CCPR1L=pwm_real; //设置PWM输出为最大CCPR1H=0x00; //CCP1CON=0x0c; //CCP1选择为PWM工作方式PR2=pwm_cycle; //设置PWM的周期TRISC=TRISC&0xfb; //设置RC2---PWM输出T2CON=0x00; //分频系数=0x00TMR2ON=1; //启用TMR2PORTC=0x00; //PORTB=PORTB&0xfe; //RB0=0,----输出低电平，禁止GAL输出while(1){PORTA^=0b00010100;delay(15000); //延时}}void protect_run(){ //过流和过温保护GIE=0; //关全局中断pwm_real=pwm_hi; //PWM_real----PWM实时值CCPR1L=pwm_real; //设置PWM输出为最大CCPR1H=0x00; //CCP1CON=0x0c; //CCP1选择为PWM工作方式PR2=pwm_cycle; //设置PWM的周期TRISC=TRISC&0xfb; //设置RC2---PWM输出T2CON=0x00; //分频系数=0x00TMR2ON=1; //启用TMR2PORTC=0x00; //PORTB=PORTB&0xfe; //RB0=0,----输出低电平，禁止GAL输出while(1){// PORTA^=0b00010000; //RA4闪动PORTA^=0b00000100; //RA2闪动delay(15000); //延时}}void PWM_chushihua(){// CCPR1L=0xa0;// CCPR1H=0x00;run_num=0;pwm_real=pwm_hi; //PWM_real----PWM实时值CCPR1L=pwm_real; //设置PWM输出为最大CCPR1H=0x00; //CCP1CON=0x0c; //CCP1选择为PWM工作方式PR2=pwm_cycle; //设置PWM的周期TRISC=TRISC&0xfb; //设置RC2---PWM输出T2CON=0x00; //分频系数=0x00TMR2ON=1; //启用TMR2}void open_loopf() //开环运行50次，启动{k=0b00011000; //5 //HA,HB,HC,s=PORTC&0b00000110; //1 0 1, B-C+PORTC=k|s; //delay(8000); //延时k=0b10010000; //4 //HA,HB,HC,s=PORTC&0b00000110; //1 0 0, A+B-PORTC=k|s; //delay(8000); //延时k=0b10000001; //6 //HA,HB,HC,s=PORTC&0b00000110; //1 1 0, C-A+PORTC=k|s; //delay(8000); //延时k=0b00100001; //2 //HA,HB,HC,s=PORTC&0b00000110; //0 1 0, B+C-PORTC=k|s; //delay(8000); //延时k=0b01100000; //3 //HA,HB,HC,s=PORTC&0b00000110; //0 1 1, A-B+PORTC=k|s; //delay(8000); //延时k=0b01001000; //1 //HA,HB,HC,s=PORTC&0b00000110; //0 0 1, C+A-PORTC=k|s; //delay(8000); //延时}void interrupt RB4_int(){char th;run_num++;if(run_num>10){run_num=10;}m=PORTB;//RB7-HA,RB5-HB,RB4-HCm&=0xB0; //1 0 1 1m^=0x90;//A=/A,B=B,C=/C //1 1n=m>>4; //switch(n){ //HA,HB,HC,// case 1: k=0b01001000;break; //0 0 1, C+A-// case 3: k=0b01100000;break; //0 1 1, A-B+// case 2: k=0b00100001;break; //0 1 0, B+C-// case 10:k=0b10000001;break; //1 1 0, C-A+// case 8: k=0b10010000;break; //1 0 0, A+B-// case 9: k=0b00011000;break; //1 0 1, B-C+// default:k=0b00000000; //其它(000,111),0x00,输出为无效case 1: k=0b00011000;break; //1 0 1, B-C+case 3: k=0b01001000;break; //0 0 1, C+A-case 2: k=0b01100000;break; //0 1 1, A-B+case 10:k=0b00100001;break; //0 1 0, B+C-case 8: k=0b10000001;break; //1 1 0, C-A+case 9: k=0b10010000;break; //1 0 0, A+B-default:k=0b00000000; //其它(000,111),0x00,输出为无s=PORTC&0b00000110; //取RC1,RC2状态PORTC=k|s; //输出PORTCif (RB7==0) {trial&=0b00110000;} //RB7=0if (RB5==0) {trial&=0b10010000;} //RB5=0if (RB4==0) {trial&=0b10100000;} //RB4=0if (lkk>1) {lkk--;} //每20次测试一次// tri=n;// if ((tri&=0b00001000)==0) {trial&=0b00110000;} //RB7=0// tri=n;// if ((tri&=0b00000010)==0) {trial&=0b10010000;} //RB5=0// tri=n;// if ((tri&=0b00000001)==0) {trial&=0b10100000;} //RB4=0// if (lkk>2) {lkk--;} //每20次测试一次else{while(trial!=0b00000000){GIE=0; //关全局中断pwm_real=pwm_hi; //PWM_real----PWM实时值CCPR1L=pwm_real; //设置PWM输出为最大CCPR1H=0x00; //CCP1CON=0x0c; //CCP1选择为PWM工作方式PR2=pwm_cycle; //设置PWM的周期TRISC=TRISC&0xfb; //设置RC2---PWM输出T2CON=0x00; //分频系数=0x00TMR2ON=1; //启用TMR2PORTC=0x00; //PORTB=PORTB&0xfe; //RB0=0,----输出低电平，禁止GAL输出while(1){PORTA^=0b00010000; //RA4闪动for (jm=15000;jm>1;jm--){asm("nop");}}}trial=0b10110000;lkk=10;}RBIF=0;}void max_min_compare(){if (pwm_real>pwm_hi) pwm_real=pwm_hi;if (pwm_real<pwm_lo) pwm_real=pwm_lo;}para_chushihua(); //参数初始化nointerupt_chushihua(); //禁止中断初始化Io_chushihua(); //I/O初始化PWM_chushihua(); //PWM初始化RA1=0; //RA1-PSW1发送低电平,接通电源RA5=0; //RA5-RSW1发送低电平,主电路充电延时RA2=0; //RA2，指示灯灭RA4=0; //RA4，指示灯灭delay(100); //主电路充电延时RB0=0; //ST/(-STOP)发送低电平,禁止GAL输出delay(100);RA1=1; //RA1-PSW1发送高电平,接通电源for(charge_delay=0;charge_delay<50;charge_delay++){delay(15000);}RA5=1; //RA5-RSW1发送高电平,主电路充电延时delay(100); //主电路充电延时PP: asm(" nop"); //RBIF=0; //禁止RB4-7中断,清RBIF 标志设定RBIE=0; //禁止RB4-7中断,RBIE设定GIE=0; //关全局中断RA2=0; //RA2，指示灯灭RA4=0; //RA4，指示灯灭run_flag=0; //运行标志---由RB2按钮设置while(run_flag==0) //----------主程序-------------//{ //RB2启动键，低电平有效if (RB2==0) run_flag=1; //运行标志---由RB2按钮设置delay(100); //延时} //while(run_flag==1) //运行，则执行......{int ope; //设定开环运行次数为12次int openloopn; //RB0=1; //ST/(-STOP)发送高电平,开放GAL输出delay(100); //延时RA4=1;// pwm_real=180;pwm_real=230;delay(500); //延时// ope=10; //设定开环运行次数为20次ope=3; //设定开环运行次数为20次for (openloopn=0;openloopn<=ope;openloopn++){ //00 0000000000000000CCPR1L=pwm_real; //设置开环下PWM输出值----130open_loopf(); //开环运行20次，启动} //----------------------- //000000000000000000delay(6000); //延时RBIF=0; //RB4-7中断,RBIF标志设定RBIE=1; //RB4-7中断,RBIE设定GIE=1; //开全局中断RA2=1; //-----------------------pwm_real=pwm_hi; //-----------------------ghl: asm(" nop"); //if ((pwm_real<110)&&(run_num<10)) //如果pwm_real<140,但是run_num<10,表明未动，则{ //protect_run();protect_run();}while(RA0==1) //RA0=1,过流和过温保护{ //delay(150); //调用延时程序protect_num++; //if (protect_num>30)//如果30次保护，则认为是真正保护（过温和过流保护软件滤波）{protect();} //过流和过温保护} //protect_num=0; //if(RB1==1) flag_autohand=1; //自/手标志设定，标志设定else flag_autohand=0; //RB1=1---AUTO;自动//RB1=0---HAND;手动//----------------------- if (flag_autohand==1){ //111 11111111111111111if (pwm_real>pwm_lo) pwm_real-=1; //自动else pwm_real=pwm_lo;}//11111111111111111111else{if(RA3==0) //加(低有效), 则{if (pwm_real<pwm_hi) pwm_real+=1;else pwm_real=pwm_hi;}if(RC1==0) //减(低有效),则{if (pwm_real>pwm_lo) pwm_real-=1;else pwm_real=pwm_lo;}}max_min_compare();CCPR1L=pwm_real; //设置PWM输出delay(4500); //调用延时子程序while(RA0==1) //RA0------过流和过温保护输入，高电平保护{ //protect(); //过流和过温保护} //while(RB3==0){ //RB3停机键，低电平有效run_flag=0; //运行标志---由RB3按钮设置}if (run_flag==0) //停机，则跳转至......{for(;pwm_real<pwm_hi;pwm_real++){delay(2000); //至上限否？CCPR1L=pwm_real; //设置PWM输出为最大}RB0=0; //ST/(-STOP)发送低电平,禁止GAL输出para_chushihua(); //参数初始化nointerupt_chushihua(); //禁止中断初始化PWM_chushihua(); //PWM初始化run_num=0;goto PP;}else{// run_num=0;goto ghl;}}// goto PP;}。

实用标准文案目录1 总体设计框架 (3)2 硬件电路设计 (4)2.1 芯片介绍 (4)2.2 驱动电路 (9)2.3 按键控制电路 (10)3 程序编写 .................................................103.1 工作原理 (10)21程序书写过程3.2 ......................................................参考资料 (16)精彩文档．实用标准文案直流电机驱动Abstract 摘要:本文主要内容是利用PIC18F452单片机来控制直流电机，通过L293NE来驱动电机，通过按键来使其正转，反转。

Keywords 关键词：直流电机，PWM，L293NE精彩文档．实用标准文案总体设计框架1硬件电路利用驱动芯片L293D来驱动直流电机，按键则是单独引出。

如图1所示。

软件则是C语言编程。

PI驱C直动1流8电电F路机452图1硬件设计框精彩文档．实用标准文案2硬件电路设计2.1 芯片介绍首先，总体说明硬件电路设计，如图2 原理图，图3 PCB图以及图4板子的图所示。

三个输入信号，如图分别为RD4，RD5，RD6连上光耦的2脚，然后通过光耦的4脚引入L293D的使能引脚（12EN）以及输入引脚（1A，2A），然后L293D的输出引脚（1Y，2Y）通过H-桥型控制电路与直流电机连接。

图2 直流电机控制部分原理图精彩文档．实用标准文案PCB图图3直流电机控制部分成品板图4其中红线圈表示直流电机控制部分。

下面详细介绍各个芯片。

PIC18F452、1外部端口以及内部存储器是相同的。

上图的与PIC18F452PIC18F4580 。

U2精彩文档．实用标准文案2、光耦P521光耦主要的作用是保护单片机。

光耦的结构如图5所示。

图5 光耦P521结构在PCB中（如图6所示），即U7，U9，U10三个光耦，左下方方形孔为1引脚，按逆时针方向，依次为2，3，4引脚。

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另一完整版#include "DSP281x_Device.h"#include "DSP281x_Examples.h"//#include "DSP281x_Globalprototypes.h"#include "DSP281x_Device.h"#include "DSP281x_Examples.h"void InitPieCtrl(void);void init_7219(void);void InitSysCtrl(void);void InitPieVectTable(void);void pdelay(void);void delay(void);interrupt void eva_capint1_isr(void);interrupt void eva_capint2_isr(void);interrupt void eva_timer1_isr(void);extern void DSP28x_usDelay(Uint32 Count);unsigned s=500;unsigned state;unsigned i,j;int32 x3=0,speed1,speed2=0;//数组供显示用unsigned K;unsigned y=0;int32 x1=0,x2=0;Uint16 counter=0;//===========PI参数===========float Kpspeed=10,Kispeed=0.01,Kcspeed=0.0046;int Nmin=0,Nmax=1500; //float RKspeed=0,Uspeed=0.0; //int Nref=300,N=0,Iref=0;int Espeed=0;//===============速度PID====================//void SPEED_PI(void) //{//Xispeed:速度调节器积分累积量Espeed=Nref-N;Uspeed=Kpspeed*Espeed+RKspeed;if(Uspeed<0){if((Nmin-Uspeed)>=0)Iref=Nmin;elseIref=(int)Uspeed;}else{if(Nmax-Uspeed<0)Iref=Nmax;elseIref=(int)Uspeed;}RKspeed=Kcspeed*(Iref-(int)Uspeed)+Espeed*Kispeed+RKspeed; Iref=1500-Iref;}//=============增调速=====================//void tiaosujian(void){if(Nref<=0){Nref=0;}else{Nref=Nref-1;}}//=============减调速=====================//void tiaosuzeng(void){if(Nref>=1500){Nref=1500;}else{Nref=Nref+1;}}//=============延时程序=====================//void pdelay(void){for(j=0;j<100;j++){ for (i = 0; i < 5; i++);}}//=============SPI初始化====================//void InitSpi(void){SpiaRegs.SPICCR.all=0x000F; //复位SPI模块,SPICLK 信号上升沿时,数据输出//单个移位序列周期移入,移出的位数为16SpiaRegs.SPICTL.all=0x000E; //SPICLK 信号延时半个周期,主模式,使能发送SpiaRegs.SPIBRR=120;SpiaRegs.SPICCR.bit.SPISWRESET=1; //SPI准备好发送或接收下一个字符//=============MAX7219 Init====================== GpioDataRegs.GPFCLEAR.bit.GPIOF3=1;SpiaRegs.SPIRXBUF=SpiaRegs.SPIRXBUF;SpiaRegs.SPITXBUF=0x09FF;while(SpiaRegs.SPISTS.bit.BUFFULL_FLAG==1){};GpioDataRegs.GPFSET.bit.GPIOF3=1;GpioDataRegs.GPFCLEAR.bit.GPIOF3=1;SpiaRegs.SPIRXBUF=SpiaRegs.SPIRXBUF;SpiaRegs.SPITXBUF=0x0A0A;while(SpiaRegs.SPISTS.bit.BUFFULL_FLAG==1){};GpioDataRegs.GPFSET.bit.GPIOF3=1;GpioDataRegs.GPFCLEAR.bit.GPIOF3=1;SpiaRegs.SPIRXBUF=SpiaRegs.SPIRXBUF;SpiaRegs.SPITXBUF=0x0B03;while(SpiaRegs.SPISTS.bit.BUFFULL_FLAG==1){};GpioDataRegs.GPFSET.bit.GPIOF3=1;GpioDataRegs.GPFCLEAR.bit.GPIOF3=1;SpiaRegs.SPIRXBUF=SpiaRegs.SPIRXBUF;SpiaRegs.SPITXBUF=0x0C01;while(SpiaRegs.SPISTS.bit.BUFFULL_FLAG==1){};GpioDataRegs.GPFSET.bit.GPIOF3=1;GpioDataRegs.GPFCLEAR.bit.GPIOF3=1;SpiaRegs.SPIRXBUF=SpiaRegs.SPIRXBUF;SpiaRegs.SPITXBUF=0x0F00;while(SpiaRegs.SPISTS.bit.BUFFULL_FLAG==1){};GpioDataRegs.GPFSET.bit.GPIOF3=1;}//===========显示子程序=====================//void XianShi(long int m){Uint16 dizhi[4]={0x0100,0x0200,0x0300,0x0400};Uint16 shu[4];int i;for(i=3;i>=0;i--){shu[i]=m%10;m=m/10;GpioDataRegs.GPFCLEAR.bit.GPIOF3=1;SpiaRegs.SPIRXBUF=SpiaRegs.SPIRXBUF;SpiaRegs.SPITXBUF=dizhi[i]|shu[i];while(SpiaRegs.SPISTS.bit.BUFFULL_FLAG==1){};GpioDataRegs.GPFSET.bit.GPIOF3=1;}}//==============EV A初始化子程序=============/void EV A_Timer1(){//EvaRegs.GPTCONA.all=0;EvaRegs.T1CNT=0x0000; //T1CNT(定时器1的计数寄存器)EvaRegs.T1PR=1500;EvaRegs.ACTRA.all = 0x0000; //比较方式寄存器，设置比较器输出引脚的方式EvaRegs.CMPR1 = 500; //全比较寄存器EvaRegs.CMPR2 = 500;EvaRegs.T2CNT=0x0000;EvaRegs.T2PR=0xFFFF;EvaRegs.T2CON.all=0x1740;EvaRegs.EV AIMRA.bit.T1UFINT=1; //EV AIMRA(EV A的中断屏蔽寄存器A).T1PINT(通用定时器1的周期中断使能)EvaRegs.EV AIFRA.bit.T1UFINT=1;//EV AIFRA(EV A的中断标志寄存器.T1PINT(通用定时器1的周期中断标志)//写1清除定时器1的周期中断标志CONA.all = 0x82FF; //比较器控制寄存器EvaRegs.T1CON.all=0x1002;//T1CON=000 10 000 0100 0000EvaRegs.T1CON.bit.TMODE=01;EvaRegs.T1CON.bit.TENABLE=1;EvaRegs.CAPCONA.all = 0;//EvaRegs.CAPCONA.all=0xA0F0;EvaRegs.CAPCONA.bit.CAP12EN = 1; //使能捕获单元1和2EvaRegs.CAPCONA.bit.CAP1EDGE = 3; //选用两边沿EvaRegs.CAPCONA.bit.CAP2EDGE = 3; //选用上两边沿EvaRegs.CAPCONA.bit.CAP12TSEL = 0; //选择定时器2*/EvaRegs.CAPFIFOA.bit.CAP1FIFO = 0; //状态寄存器清零EvaRegs.CAPFIFOA.bit.CAP2FIFO = 0; //状态寄存器清零EvaRegs.EV AIMRC.bit.CAP1INT = 1; //捕获1中断屏蔽位使能EvaRegs.EV AIFRC.bit.CAP1INT = 1; //复位标志位EvaRegs.EV AIMRC.bit.CAP2INT = 1; //捕获1中断屏蔽位使能EvaRegs.EV AIFRC.bit.CAP2INT = 1; //复位标志位}//===============主程序=====================//void main(void){Uint16 num=0;DINT; //关总中断IER=0x0000; //禁止使能IFR=0x0000;InitSysCtrl(); //系统初始化InitGpio();InitSpi();EALLOW;SysCtrlRegs.PLLCR.all=0x0002;SysCtrlRegs.HISPCP.all=0x0000; //HISPCP(高速外设时钟预定标寄存器)//bit0~2=011:高速时钟的频率=SYSCKLOUT/6//高速时钟的频率=25M EDIS;EALLOW; //关闭寄存器保护GpioMuxRegs.GPAMUX.all=0x030F;//将A0-A3设成pwm 口，将A8、A9设成CAP口，将A4、A5设成IO口，做测试用，A10为IO口按键做保护用GpioMuxRegs.GPADIR.bit.GPIOA4=1;GpioMuxRegs.GPADIR.bit.GPIOA5=1;GpioMuxRegs.GPADIR.bit.GPIOA10=0;GpioMuxRegs.GPBMUX.bit.PWM7_GPIOB0=0;GpioMuxRegs.GPBMUX.bit.PWM8_GPIOB1=0;GpioMuxRegs.GPBDIR.bit.GPIOB0=0;GpioMuxRegs.GPBDIR.bit.GPIOB1=0;GpioMuxRegs.GPFMUX.all=0x000f;GpioMuxRegs.GPFMUX.bit.SPICLKA_GPIOF2=1; //选择复用SPISIMO,SPISTE,SPICLKGpioMuxRegs.GPFMUX.bit.SPISIMOA_GPIOF0=1;// GpioMuxRegs.GPFMUX.bit.SPISTEA_GPIOF3=1;GpioMuxRegs.GPFMUX.bit.SPISTEA_GPIOF3=0;GpioMuxRegs.GPFDIR.bit.GPIOF3=1;EDIS;EV A_Timer1();InitPieCtrl(); //初始化PIE控制寄存器InitPieVectTable();//重新映射定时器1的比较中断入口EALLOW;PieVectTable.CAPINT1 = &eva_capint1_isr; //中断使能PieVectTable.CAPINT2 = &eva_capint2_isr; //中断使能PieVectTable.T1UFINT = &eva_timer1_isr; //定时器下溢中断使能EDIS;//使能T1下溢中断：PIE-组2，中断6，使能捕获中断PieCtrlRegs.PIEIER2.bit.INTx6 = 1;PieCtrlRegs.PIEIER3.bit.INTx5 = 1;PieCtrlRegs.PIEIER3.bit.INTx6 = 1;//使能CPU INT2，GP-Timer1的下溢中断连接到该中断，使能捕获中断IER = 0x0006;//全局中断使能，并使能具有更高优先级的实时调试方式EINT; //使能全局中断INTMERTM;//使能全局实时中断DBGMwhile(1){if(GpioDataRegs.GPBDAT.bit.GPIOB0==1){tiaosuzeng();}asm(" nop");asm(" nop");if(GpioDataRegs.GPBDAT.bit.GPIOB1==1){tiaosujian();}asm(" nop");asm(" nop");InitSpi();XianShi(N);num++;if(num==9999){num=0;}DELAY_US(80000L);InitSpi();}}//============捕获1 中断处理================// interrupt void eva_capint1_isr(void){// asm(" RPT #150 || NOP"); //空操作延时GpioMuxRegs.GPAMUX.all = 0x000F;GpioMuxRegs.GPADIR.bit.GPIOA8=0;GpioMuxRegs.GPADIR.bit.GPIOA9=0;if(GpioDataRegs.GPADAT.bit.GPIOA8==0&&GpioDataRegs.GPADAT.bit.GPIOA9==0){ state=0;}if(GpioDataRegs.GPADAT.bit.GPIOA8==1&&GpioDataRegs.GPADAT.bit.GPIOA9==1){state=3;}if(GpioDataRegs.GPADAT.bit.GPIOA8==1&&GpioDataRegs.GPADAT.bit.GPIOA9==0){state=2;}if(GpioDataRegs.GPADAT.bit.GPIOA8==0&&GpioDataRegs.GPADAT.bit.GPIOA9==1){state=1;}// x2=EvaRegs.T2CNT;x2=counter;x3=(long int)(x2-x1);if(x3<0){x3+=65536;}speed1=8330/x3;N=speed1*6;x1=x2;GpioMuxRegs.GPAMUX.all = 0x030F;EvaRegs.EV AIFRC.bit.CAP1INT = 1;PieCtrlRegs.PIEACK.all = PIEACK_GROUP3; }//============捕获2中断处理================// interrupt void eva_capint2_isr(void){//asm(" nop");GpioMuxRegs.GPAMUX.all = 0x000F;GpioMuxRegs.GPADIR.bit.GPIOA8=0;GpioMuxRegs.GPADIR.bit.GPIOA9=0;if(GpioDataRegs.GPADAT.bit.GPIOA8==1&&GpioDataRegs.GPADAT.bit.GPIOA9==0){state=2;}if(GpioDataRegs.GPADAT.bit.GPIOA8==0&&GpioDataRegs.GPADAT.bit.GPIOA9==1){state=1;}if(GpioDataRegs.GPADAT.bit.GPIOA8==0&&GpioDataRegs.GPADAT.bit.GPIOA9==0){ state=0;}if(GpioDataRegs.GPADAT.bit.GPIOA8==1&&GpioDataRegs.GPADAT.bit.GPIOA9==1){state=3;}GpioMuxRegs.GPAMUX.all = 0x030F;EvaRegs.EV AIFRC.bit.CAP2INT = 1;PieCtrlRegs.PIEACK.all = PIEACK_GROUP3;}//============T1下溢中断处理================//interrupt void eva_timer1_isr(void){counter++;SPEED_PI();EvaRegs.CMPR1 = Iref;EvaRegs.CMPR2 = Iref;if(GpioDataRegs.GPADAT.bit.GPIOA10==1){ if(state==0){EvaRegs.ACTRA.all = 0x000A;GpioDataRegs.GPADAT.bit.GPIOA4=1;GpioDataRegs.GPADAT.bit.GPIOA5=1;}if( state==3){EvaRegs.ACTRA.all = 0x00A0;GpioDataRegs.GPADAT.bit.GPIOA4 = 0;GpioDataRegs.GPADAT.bit.GPIOA5 = 0;}if( state==2){EvaRegs.ACTRA.all = 0x0082;GpioDataRegs.GPADAT.bit.GPIOA4=0;GpioDataRegs.GPADAT.bit.GPIOA5=1;}if( state==1){EvaRegs.ACTRA.all = 0x0028;GpioDataRegs.GPADAT.bit.GPIOA4=1;GpioDataRegs.GPADAT.bit.GPIOA5=0;}} //通过以上不同的组合，可以改变I/O口的状态，//GpioDataRegs.GPEDAT.all查看I/O口状态EvaRegs.EV AIFRA.bit.T1UFINT=1;PieCtrlRegs.PIEACK.all=PIEACK_GROUP2; //#define PIEACK_GROUP2 0x0002;}。

#include <pic168xa.h> //2008.4.24--14点00分#include <math.h>#include <stdlib.h>int charge_delay,jm,lkk,trial,run_num,protect_num;char m,n,k,s,L,tri;char hall_num; //循环次数char hall_number; //1+3+2+10+8+9=33(一个循环和)，hallless_protect()int pwm_hi; // pwm占空比上限int pwm_cycle; // pwm周期int pwm_lo; // pwm占空比下限,由A/D结果确定int pwm_real; // pwm占空比实际int ad_result; // A/D转换结果bit ghy,run_flag; //运行标志---0，未运行，停止bit flag_autohand; //开始为-----自动void delay(delay_num)int delay_num;{int j;for (j=delay_num;j>1;j--){asm("nop");}}union adres{int y1;unsigned char adre[2];}adresult;void para_chushihua(){protect_num=0;trial=0b10110000;tri=0x00;lkk=10;hall_num=0x00;hall_number=0x00;run_flag=0; //运行标志---0，未运行，停止flag_autohand=1; //开始为-----自动pwm_cycle= 240; // pwm周期// pwm_hi=pwm_cycle-5; // pwm占空比上限pwm_hi=pwm_cycle-1; // pwm占空比上限pwm_real=pwm_cycle; // 实际pwm占空比为pwm周期上限pwm_lo=0x0A; //设定下限+++++++++++++++++++++++++++++++++++++++ ++++++++}void nointerupt_chushihua(){INTCON=0X00; //禁止中断}void Io_chushihua(){// ADCON1=0x8e; //RA0/AN0--VOLTAGE 电压采样,右对齐1ADCON1=0x86; //设定RA0--RA6设定为I/O口；TRISA =0x09; //RA0---PROTECT保护（电流保护和过温保护）--输出,0--不保护,1--保护;//RA1----PSW1，继电器,输出,0,电源接通//RA2----指示灯,输出0--->>//RA3----按键,加,输入 1//RA4----指示灯,输出0--->>//RA5----RSW1,继电器，输出0，软启充电PORTA=PORTA&0x09; //RA1=0,----输出低电平，PSW1，继电器断//RA2=0,----输出低电平，指示灯灭//RA4=0,----输出低电平，指示灯灭//RA5=0,----输出低电平，RSW1，继电器断RBPU=0; //RB端口内部弱上拉电路禁止TRISB =0xfe; //RB7=1, 空----输入//RB6=1----HA,输入//RB5=1----HB,输入//RB4=1----HC,输入//RB3=1----停,输入，按钮//RB2=1----启,输入，按钮//RB1=1----自/手选择，输入，开关//RB0=0----ST/STOP，输出，控制GAL PORTB=PORTB&0xfe; //RB0=0,----输出低电平，禁止GAL输出TRISC =0x02; //RC7---A1+,PWMA1+,输出0//RC6---A1, 输出0//RC5---B1+,输出0//RC4---B1,输出0//RC3---C1+,输出0//RC2---CCP1(PWM),输出,死区0//RC1----减，输入，按钮 1//RC0---C1,输出0 PORTC=0x06;}void protect(){ //过流和过温保护GIE=0; //关全局中断pwm_real=pwm_hi; //PWM_real----PWM实时值CCPR1L=pwm_real; //设置PWM输出为最大CCPR1H=0x00; //CCP1CON=0x0c; //CCP1选择为PWM工作方式PR2=pwm_cycle; //设置PWM的周期TRISC=TRISC&0xfb; //设置RC2---PWM输出T2CON=0x00; //分频系数=0x00TMR2ON=1; //启用TMR2PORTC=0x00; //PORTB=PORTB&0xfe; //RB0=0,----输出低电平，禁止GAL输出while(1){PORTA^=0b00010100;delay(15000); //延时}}void protect_run(){ //过流和过温保护GIE=0; //关全局中断pwm_real=pwm_hi; //PWM_real----PWM实时值CCPR1L=pwm_real; //设置PWM输出为最大CCPR1H=0x00; //CCP1CON=0x0c; //CCP1选择为PWM工作方式PR2=pwm_cycle; //设置PWM的周期TRISC=TRISC&0xfb; //设置RC2---PWM输出T2CON=0x00; //分频系数=0x00TMR2ON=1; //启用TMR2PORTC=0x00; //PORTB=PORTB&0xfe; //RB0=0,----输出低电平，禁止GAL输出while(1){// PORTA^=0b00010000; //RA4闪动PORTA^=0b00000100; //RA2闪动delay(15000); //延时}}void PWM_chushihua(){// CCPR1L=0xa0;// CCPR1H=0x00;run_num=0;pwm_real=pwm_hi; //PWM_real----PWM实时值CCPR1L=pwm_real; //设置PWM输出为最大CCPR1H=0x00; //CCP1CON=0x0c; //CCP1选择为PWM工作方式PR2=pwm_cycle; //设置PWM的周期TRISC=TRISC&0xfb; //设置RC2---PWM输出T2CON=0x00; //分频系数=0x00TMR2ON=1; //启用TMR2}void open_loopf() //开环运行50次，启动{k=0b00011000; //5 //HA,HB,HC,s=PORTC&0b00000110; //1 0 1, B-C+PORTC=k|s; //delay(8000); //延时k=0b10010000; //4 //HA,HB,HC,s=PORTC&0b00000110; //1 0 0, A+B-PORTC=k|s; //delay(8000); //延时k=0b10000001; //6 //HA,HB,HC,s=PORTC&0b00000110; //1 1 0, C-A+PORTC=k|s; //delay(8000); //延时k=0b00100001; //2 //HA,HB,HC,s=PORTC&0b00000110; //0 1 0, B+C-PORTC=k|s; //delay(8000); //延时k=0b01100000; //3 //HA,HB,HC,s=PORTC&0b00000110; //0 1 1, A-B+PORTC=k|s; //delay(8000); //延时k=0b01001000; //1 //HA,HB,HC,s=PORTC&0b00000110; //0 0 1, C+A-PORTC=k|s; //delay(8000); //延时}void interrupt RB4_int(){char th;run_num++;if(run_num>10){run_num=10;}m=PORTB;//RB7-HA,RB5-HB,RB4-HCm&=0xB0; //1 0 1 1 m^=0x90;//A=/A,B=B,C=/C //1 1 n=m>>4; //switch(n){ //HA,HB,HC,// case 1: k=0b01001000;break; //0 0 1, C+A-// case 3: k=0b01100000;break; //0 1 1, A-B+// case 2: k=0b00100001;break; //0 1 0, B+C-// case 10:k=0b10000001;break; //1 1 0, C-A+// case 8: k=0b10010000;break; //1 0 0, A+B-// case 9: k=0b00011000;break; //1 0 1, B-C+// default:k=0b00000000; //其它(000,111),0x00,输出为无效case 1: k=0b00011000;break; //1 0 1, B-C+case 3: k=0b01001000;break; //0 0 1, C+A-case 2: k=0b01100000;break; //0 1 1, A-B+case 10:k=0b00100001;break; //0 1 0, B+C-case 8: k=0b10000001;break; //1 1 0, C-A+case 9: k=0b10010000;break; //1 0 0, A+B-default:k=0b00000000; //其它(000,111),0x00,输出为无效}s=PORTC&0b00000110; //取RC1,RC2状态PORTC=k|s; //输出PORTCif (RB7==0) {trial&=0b00110000;} //RB7=0if (RB5==0) {trial&=0b10010000;} //RB5=0if (RB4==0) {trial&=0b10100000;} //RB4=0if (lkk>1) {lkk--;} //每20次测试一次// tri=n;// if ((tri&=0b00001000)==0) {trial&=0b00110000;} //RB7=0// tri=n;// if ((tri&=0b00000010)==0) {trial&=0b10010000;} //RB5=0// tri=n;// if ((tri&=0b00000001)==0) {trial&=0b10100000;} //RB4=0// if (lkk>2) {lkk--;} //每20次测试一次else{while(trial!=0b00000000){GIE=0; //关全局中断pwm_real=pwm_hi; //PWM_real----PWM 实时值CCPR1L=pwm_real; //设置PWM输出为最大CCPR1H=0x00; //CCP1CON=0x0c; //CCP1选择为PWM工作方式PR2=pwm_cycle; //设置PWM的周期TRISC=TRISC&0xfb; //设置RC2---PWM输出T2CON=0x00; //分频系数=0x00TMR2ON=1; //启用TMR2PORTC=0x00; //PORTB=PORTB&0xfe; //RB0=0,----输出低电平，禁止GAL输出while(1){PORTA^=0b00010000; //RA4闪动for (jm=15000;jm>1;jm--){asm("nop");}}}trial=0b10110000;lkk=10;}RBIF=0;}void max_min_compare(){if (pwm_real>pwm_hi) pwm_real=pwm_hi;if (pwm_real<pwm_lo) pwm_real=pwm_lo;}main(void){para_chushihua(); //参数初始化nointerupt_chushihua(); //禁止中断初始化Io_chushihua(); //I/O初始化PWM_chushihua(); //PWM初始化RA1=0; //RA1-PSW1发送低电平,接通电源RA5=0; //RA5-RSW1发送低电平,主电路充电延时RA2=0; //RA2，指示灯灭RA4=0; //RA4，指示灯灭delay(100); //主电路充电延时RB0=0; //ST/(-STOP)发送低电平,禁止GAL输出delay(100);RA1=1; //RA1-PSW1发送高电平,接通电源for(charge_delay=0;charge_delay<50;charge_delay++){delay(15000);}RA5=1; //RA5-RSW1发送高电平,主电路充电延时delay(100); //主电路充电延时PP: asm(" nop"); //RBIF=0; //禁止RB4-7中断,清RBIF 标志设定RBIE=0; //禁止RB4-7中断,RBIE设定GIE=0; //关全局中断RA2=0; //RA2，指示灯灭RA4=0; //RA4，指示灯灭run_flag=0; //运行标志---由RB2按钮设置while(run_flag==0) //----------主程序-------------//{ //RB2启动键，低电平有效if (RB2==0) run_flag=1; //运行标志---由RB2按钮设置delay(100); //延时} //while(run_flag==1) //运行，则执行......{int ope; //设定开环运行次数为12次int openloopn; //RB0=1; //ST/(-STOP)发送高电平,开放GAL输出delay(100); //延时RA4=1;// pwm_real=180;pwm_real=230;delay(500); //延时// ope=10; //设定开环运行次数为20次ope=3; //设定开环运行次数为20次for (openloopn=0;openloopn<=ope;openloopn++){ //0 00000000000000000CCPR1L=pwm_real; //设置开环下PWM输出值----130open_loopf(); //开环运行20次，启动} //----------------------- //000000000000000000delay(6000); //延时RBIF=0; //RB4-7中断,RBIF标志设定RBIE=1; //RB4-7中断,RBIE设定GIE=1; //开全局中断RA2=1; //----------------------- pwm_real=pwm_hi; //-----------------------ghl: asm(" nop"); //if ((pwm_real<110)&&(run_num<10)) //如果pwm_real<140,但是run_num<10,表明未动，则{ //protect_run();protect_run();}while(RA0==1) //RA0=1,过流和过温保护{ //delay(150); //调用延时程序protect_num++; //if (protect_num>30)//如果30次保护，则认为是真正保护（过温和过流保护软件滤波）{protect();} //过流和过温保护} //protect_num=0; //if(RB1==1) flag_autohand=1; //自/手标志设定，标志设定else flag_autohand=0; //RB1=1---AUTO;自动//RB1=0---HAND;手动//----------------------- if (flag_autohand==1){ //11 111111111111111111if (pwm_real>pwm_lo) pwm_real-=1; //自动else pwm_real=pwm_lo;}//11111111111111111111else{if(RA3==0) //加(低有效), 则{if (pwm_real<pwm_hi) pwm_real+=1;else pwm_real=pwm_hi;}if(RC1==0) //减(低有效),则{if (pwm_real>pwm_lo) pwm_real-=1;else pwm_real=pwm_lo;}}max_min_compare();CCPR1L=pwm_real; //设置PWM输出delay(4500); //调用延时子程序while(RA0==1) //RA0------过流和过温保护输入，高电平保护{ //protect(); //过流和过温保护} //while(RB3==0){ //RB3停机键，低电平有效run_flag=0; //运行标志---由RB3按钮设置}if (run_flag==0) //停机，则跳转至......{for(;pwm_real<pwm_hi;pwm_real++){delay(2000); //至上限否？CCPR1L=pwm_real; //设置PWM输出为最大}RB0=0; //ST/(-STOP)发送低电平,禁止GAL输出para_chushihua(); //参数初始化nointerupt_chushihua(); //禁止中断初始化PWM_chushihua(); //PWM初始化run_num=0;goto PP;}else{// run_num=0;goto ghl;}}// goto PP;}。