检查了下代码。。memset(S->in_e, 0, 3u * sizeof(unsigned short int));改成这样更好些。。

void *
memset (void *s, int c, unsigned n)
{
    /* Not optimized, but very portable */
    unsigned char *sp = (unsigned char *)s;

    if ((s != NULL) && (n > 0))
    {
        while (n--)
        {

*sp++ = (unsigned char)c;
        }
    }
    return s;
}

speed = lptmr_get();
    lptmr_clean(); 
    __push_pid_para_(&PID_change,need_speed - speed);
    PWM = __s16_GetPluse_(&PID_change);
    if( PWM > 0 )
    {
        PWMisZheng = 1;
        vMoto

补充内容 (2014-7-7 22:25):
rBackChange(0);
        vMotorForChange(__ABS(PWM));
    }
    else
    {
        PWMisZheng = 2;
        vMotorForChange(0);
        vMotorBackChange(__ABS(PWM));
    }