请问各位高手，我要编一个C语言控制的无刷电机程序。

#include<c8051f120.h>

#define uint unsigned int

#define uchar unsigned char

uchar num1 = 0

uint v_set = 40

xdata uint pcacap2

xdata uchar dutycycle

uint A=10//float D=0.04float C=5

//int xdata e0=0,e1=0,e2=0

float xdata PWM=0

bit isnewdata

bit DIRECTON

#define POSITIVE DIRECTON = 1

#define NEGATIVE DIRECTON = 0

void Oscillator_Init()

{

SFRPAGE = CONFIG_PAGE

OSCICN= 0x83

}

void Port_IO_Init()

{

SFRPAGE = 0x0F

XBR0 = 0xF7

XBR2 = 0x40

}

void PCA_Init()

{

SFRPAGE=0x00

PCA0CPM0=0x02

PCA0CPM1=0x02

PCA0CPM2=0x21

PCA0CPL2=0x00

PCA0CPH2=0x00

PCA0MD=0x00

PCA0CN=0x40

EIE1|=0x08

}

void PWM_set(uchar low)

{//占空比设置，高电平占空比为(256-low)/256

SFRPAGE = PCA0_PAGE

if (DIRECTON == 1) {PCA0CPH0 = lowPCA0CPM1 = 0x02PCA0CPM0 = 0x42}

else {PCA0CPH1 = lowPCA0CPM0 = 0x02PCA0CPM1 = 0x42}

}

void PCA_ISR(void) interrupt 9 using 1 {

static xdata uint tmpcnt=0

static xdata uint PCA0CP2=0

xdata uint tmpcnt2

if(CCF2){

tmpcnt2 = PCA0CPH2

tmpcnt2 = tmpcnt2<漏铅带<8

PCA0CP2 = tmpcnt2 + PCA0CPL2

pcacap2 = PCA0CP2-tmpcnt

tmpcnt = PCA0CP2

CCF2=0

}

}

PID_SC(uint v)

{

int Uk_zint e

e = v - v_set

//e1 = v1 - v_set

/激尺/e2 = v2 - v_set

//v2 = v1

//v1 = v

Uk_z = A*e/*+ D*e0 + C*(e0 - 2*e1 + e2)*/返芦

//Uk0 = Uk1 + Uk_z

//Uk1 = Uk0

//PWM = PWM - 256

dutycycle = 0.0256 * Uk_z

}

void main()

{

//Oscillator_Init()

WDTCN = 0x07

WDTCN = 0xDE

WDTCN = 0xAD

Port_IO_Init()

EA=1

num1=0

isnewdata=0

PCA_Init()

POSITIVE

while(1){PID_SC(pcacap2)PWM_set(dutycycle)}

}

4相4拍步进电机，步进角为7.5

步进电机驱动口连接在RA0-RA3

include<p16f877a.inc> 包含877A的头文件

__CONFIG _DEBUG_OFF&_CP_ALL&_WRT_HALF&_CPD_ON&_LVP_OFF&_BODEN_OFF&_PWRTE_ON&_WDT_OFF&_HS_OSC

芯片配置字，看门狗关，上电延时开，掉电检测关饥圆碧，低压编程关，加密，4M晶体HS振荡

#define step1 9h 转动第1步驱动信号(不同的电机，可以引出线顺序不一样）

#define step2 0ch 转动第2步驱动信号（本程序以“常州市丰源微特电记有限公司的35BY48S053”电机为基础）

#define step3 6h 转动第3步驱动信号

#define step4 3h 转动第4步驱动信号

countequ 20h

org 00h 复位入口

nop ICD所需要的烂举空指令

goto main 跳转到主程序

org 05h

****************************主程序***************************

main

banksel adcon1

movlw 07h

movwf adcon1设置所有A口为普通数字口

banksel trisa

clrf trisa 设置A口为输出

clrf status

clrf porta

movlw .12电机旋转一周需循环次数 360/(7.5*4)

movwf count

loop

movlw step1 第1步

movwf porta

call delay

movlw step2 第2步

movwf porta

call delay

movlw step3 第3步

movwf porta

call delay

movlw step4 第4步

movwf porta

call delay

decfsz count,1是否旋转完一周

goto loop 否，继腔隐续转动

clrf porta 是，停止转动

goto $-1停机

*******************************延时程序********************************

控制输出的频率

delay

movfw 0FH

movwf 21h

movlw 0ffh

movwf 22h

decfsz 22h,1

goto $-1

decfsz 21h,1

goto $-5

return

******************************源程序结束*******************************

end

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