使用C语言写一个基于lpc214 的直流电机控制系统，系统要求用pid控制算法

以下是一个基于lpc214的直流电机控制系统的代码示例，使用PID控制算法：

#include <LPC214x.h>
#include <stdint.h>

#define PWM_MATCH_CHANNEL 0
#define PWM_PERIOD 1000

volatile uint32_t pwm_pulse_width = 0;
volatile uint32_t speed_setpoint = 0;
volatile uint32_t speed_feedback = 0;
volatile uint32_t error_integral = 0;

void PWM0_Init(void)
{
    // Enable PWM0 peripheral clock
    PCONP |= (1 << 6);
    
    // Configure PWM0 peripheral clock
    PCLKSEL0 &= ~(3 << 12);
    PCLKSEL0 |= (1 << 12);
    
    // Configure PWM0 pins for output
    PINSEL0 |= (1 << 21);
    
    // Configure PWM0 peripheral
    PWM0TCR = (1 << 1);
    PWM0PR = 0;
    PWM0MCR = (1 << 1);
    PWM0PCR = (1 << 9);
    PWM0MR0 = PWM_PERIOD;
    PWM0MR1 = pwm_pulse_width;
    PWM0LER = (1 << PWM_MATCH_CHANNEL);
    PWM0TCR = (1 << 0) | (1 << 3);
}

void ADC_Init(void)
{
    // Enable ADC peripheral clock
    PCONP |= (1 << 12);
    
    // Configure ADC peripheral clock
    PCLKSEL0 &= ~(3 << 24);
    PCLKSEL0 |= (1 << 24);
    
    // Configure ADC pins for input
    PINSEL1 |= (1 << 18);
    
    // Configure ADC peripheral
    ADCR = (1 << 21) | (1 << 8) | (1 << 0);
}

uint32_t ADC_Read(void)
{
    ADCR |= (1 << 24);
    
    while (!(ADGDR & (1 << 31)));
    
    return (ADGDR >> 4) & 0xfff;
}

void delay_ms(uint32_t ms)
{
    uint32_t i, j;
    
    for (i = 0; i < ms; i++)
    {
        for (j = 0; j < 1000; j++);
    }
}

void PID_Controller(void)
{
    static uint32_t error_previous = 0;
    static uint32_t pwm_pulse_width_previous = 0;
    
    uint32_t error = speed_setpoint - speed_feedback;
    
    error_integral += error;
    
    if (error_integral > 100)
    {
        error_integral = 100;
    }
    else if (error_integral < -100)
    {
        error_integral = -100;
    }
    
    uint32_t error_derivative = error - error_previous;
    
    pwm_pulse_width = pwm_pulse_width_previous + error * 0.5 + error_integral * 0.2 + error_derivative * 0.3;
    
    if (pwm_pulse_width > PWM_PERIOD)
    {
        pwm_pulse_width = PWM_PERIOD;
    }
    else if (pwm_pulse_width < 0)
    {
        pwm_pulse_width = 0;
    }
    
    error_previous = error;
    pwm_pulse_width_previous = pwm_pulse_width;
}

int main()
{
    PWM0_Init();
    ADC_Init();
    
    while (1)
    {
        uint32_t adc_value = ADC_Read();
        speed_feedback = adc_value * 100 / 0xfff;
        
        PID_Controller();
        
        PWM0MR1 = pwm_pulse_width;
        PWM0LER = (1 << PWM_MATCH_CHANNEL);
        
        delay_ms(10);
    }
}

这个示例代码是一个基于lpc214的直流电机控制系统，使用了PID控制算法来控制电机的转速。在每次循环中，读取ADC输入值，计算电机实际转速，并使用PID控制算法计算出PWM输出占空比。控制系统将持续地读取ADC输入，并根据输入值和设定值调整PWM输出，从而控制电机的转速和转矩。