51实现的PID算法程序

PID实现的C语言代码
typedef struct PIDValue
{
    uint32 Ek_Uint32[3];         //差值保存，给定和反馈的差值
    uint8  EkFlag_Uint8[3];     //符号，1则对应的Ek[i]为负数，0为对应的Ek[i]为正数
    uint8   KP_Uint8;
 uint8   KI_Uint8;
 uint8   KD_Uint8;
 uint8   B_Uint8;     //死区电压
 
 uint8   KP;      //显示修改的时候用
 uint8   KI;      //
 uint8   KD;      //
 uint8   B;       //
 uint16  Uk_Uint16;    //上一时刻的控制电压
}PIDValueStr;
 
PIDValueStr xdata PID;
/*******************************
**PID = Uk + (KP*E(k) - KI*E(k-1) + KD*E(k-2));
********************************/
void    PIDProcess(void)
{
 uint32 idata Temp[3];  //
 uint32 idata PostSum;  //正数和
 uint32 idata NegSum;   //负数和
 Temp[0] = 0;
    Temp[1] = 0;
    Temp[2] = 0;
 PostSum = 0;