请问各位高手，我要编一个C语言控制的无刷电机程序。

#include
#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=0.04;float 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 = low;PCA0CPM1 = 0x02;PCA0CPM0 = 0x42;}
else {PCA0CPH1 = low;PCA0CPM0 = 0x02;PCA0CPM1 = 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<<8;
PCA0CP2 = tmpcnt2 + PCA0CPL2;
pcacap2 = PCA0CP2-tmpcnt;
tmpcnt = PCA0CP2;
CCF2=0;
}
}

PID_SC(uint v)
{
int Uk_z;int e;
e = v - v_set;
//e1 = v1 - v_set;
//e2 = v2 - v_set;
//v2 = v1;
//v1 = v;
Uk_z = A*e;/*+ D*e0 + C*(e0 - 2*e1 + e2);*/
//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);}
}

#include
#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=0.04;float
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
=
low;PCA0CPM1
=
0x02;PCA0CPM0
=
0x42;}
else
{PCA0CPH1
=
low;PCA0CPM0
=
0x02;PCA0CPM1
=
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<<8;
PCA0CP2
=
tmpcnt2
+
PCA0CPL2;
pcacap2
=
PCA0CP2-tmpcnt;
tmpcnt
=
PCA0CP2;
CCF2=0;
}
}
PID_SC(uint
v)
{
int
Uk_z;int
e;
e
=
v
-
v_set;
//e1
=
v1
-
v_set;
//e2
=
v2
-
v_set;
//v2
=
v1;
//v1
=
v;
Uk_z
=
A*e;/*+
D*e0
+
C*(e0
-
2*e1
+
e2);*/
//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);}
}

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