#define uchar unsigned char

#define uint unsigned int

#define GPIO_KEY P2

sbit PWM=P1^4;

sbit P10=P1^0;

sbit P12=P1^2;

uchar speed1[4]={"0000"};//设定转速

uchar speed2[3]={"000"};//占空比

uchar speed[]={"0000"};//当前转速

uchar KeyValue=0;

uint AA,count=0,flag;

float pid_p=0.003,pid_i=0.003,pid_d=0.002;        //PID三个参数 初值

uint SpeedSet=3000,CurrentSpeed;//设定转速 当前转速

unsigned char pid_val_mid;//pid_val_mid脉冲宽度

unsigned int lastError=0;

long int sumError=0;//sum偏差和

void delay1(unsigned int i)

{

unsigned int j;

for(;i>0;i--)

for(j=0;j<333;j++)

{;}

}

/********************* 键盘扫描*************/

void KeyDown(void)

{

GPIO_KEY=0x0f;

delay1(10);

if(GPIO_KEY!=0x0f)

{

delay1(10);

if(GPIO_KEY!=0x0f)

{

//测试列

GPIO_KEY=0X0F;

delay1(10);

switch(GPIO_KEY)

{

case(0X07):        KeyValue=0;break;

case(0X0b):        KeyValue=1;break;

case(0X0d): KeyValue=2;break;

case(0X0e):        KeyValue=3;break;

}

//测试行

GPIO_KEY=0XF0;

delay1(10);

switch(GPIO_KEY)

{

case(0X70):        KeyValue=KeyValue;break;

case(0Xb0):        KeyValue=KeyValue+4;break;

case(0Xd0): KeyValue=KeyValue+8;break;

case(0Xe0):        KeyValue=KeyValue+12;break;

}

}

}

}

void timer()

{

TMOD=0x11;//定时器0工作方式1.16位，定时器1工作方式1,16位定时；

TH0=0x4b;//50ms初值

TL0=0xfe;

TH1=0xfc;//1msPWM控制

TL1=0x66;

TR1=1;          //启动定时器1

ET1=1;           //定时器1中断使能

IT0=1;//外部中断下降沿触发

TR0=1;        //定时器启动标志

ET0=1;        //定时器中断使能

EX0=1;        //外部中断使能

EA=1;        //全局中断

}

/***********************lcd显示*************/

void  display()

{

speed[0]=CurrentSpeed/1000+0x30; //当前转速

speed[1]=CurrentSpeed/100%10+0x30;

speed[2]=CurrentSpeed/10%10+0x30;

speed[3]=CurrentSpeed%10+0x30;

speed1[0]=SpeedSet/1000+0x30;//设定转速

speed1[1]=SpeedSet/100%10+0x30;

speed1[2]=SpeedSet/10%10+0x30;

speed1[3]=SpeedSet%10+0x30;

speed2[0]=pid_val_mid/100+0x30;

speed2[1]=pid_val_mid/10%10+0x30;//占空比

speed2[2]=pid_val_mid%10+0x30;

DispHanzi(0,0,5,"当前转速：");

DispZimu(0,5,4,speed);

DispHanzi(1,0,5,"设定转速：");

DispZimu(1,5,4,speed1);

DispHanzi(3,0,4,"占空比：");//占空比

DispZimu(3,4,3,speed2);

DispHanzi(3,6,1,"%");//占空比

}

/************************电机控制*************/

void keyKZ()

{

if(KeyValue==4)//正转

{

P10=1;

P12=0;

}

if(KeyValue==5)//反转

{

P10=0;

P12=1;

}

if(KeyValue==6)//停车

{

P10=0;

P12=0;

}

if(KeyValue==12)//设定速度加50

SpeedSet+=50;

if(KeyValue==13)//设定速度减50

SpeedSet-=50;

if(KeyValue==14)//设定速度加1

SpeedSet+=1;

if(KeyValue==15)//设定速度减1

SpeedSet-=1;

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