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  • 大小: 1.84MB
    文件類型: .zip
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    發布日期: 2023-08-30
  • 語言: 其他
  • 標簽: PID??智能車??XS128??K60??

資源簡介

K60簡單例程 MC9S12XS128初始化程序和說明 MC9S12XS128簡單測速例程 PID閉環調速部分教程(原創) PID測速實例C車 簡單的PID閉環測速實例

資源截圖

代碼片段和文件信息


#include?“common.h“

#if?(defined(IAR))
#pragma?section?=?“.data“
#pragma?section?=?“.data_init“
#pragma?section?=?“.bss“
#pragma?section?=?“CodeRelocate“
#pragma?section?=?“CodeRelocateRam“
#endif

/********************************************************************/
//復制中斷向量表、初始化數據、以__ramfunc聲明的子函數復制到RAM區(對flash操作的函數必須這樣)
void?common_startup(void)
{

#if?(defined(CW))
????extern?char?__START_BSS[];
????extern?char?__END_BSS[];
????extern?uint32?__DATA_ROM[];
????extern?uint32?__DATA_RAM[];
????extern?char?__DATA_END[];
#endif

????/*?Declare?a?counter?we‘ll?use?in?all?of?the?copy?loops?*/
????uint32?n;

????/*?Declare?pointers?for?various?data?sections.?These?pointers
?????*?are?initialized?using?values?pulled?in?from?the?linker?file
?????*/
????uint8?*?data_ram?*?data_rom?*?data_rom_end;
????uint8?*?bss_start?*?bss_end;


????/*?這兩個數組的地址?在??鏈接器linker文件,即ICF文件?定義???????*/
????/*?這兩個全局變量在上面.icf文件里可以找到,里面定義了它們的地址*/??
????extern?uint32?__VECTOR_TABLE[];
????extern?uint32?__VECTOR_RAM[];

????/*?檢測是否需要?復制中斷向量表????????????????????????????*/
????/*如果它們地址不一樣,則復制flash內的向量表到RAM區得向量表*/
????if?(__VECTOR_RAM?!=?__VECTOR_TABLE)
????{
????????for?(n?=?0;?n?????????????__VECTOR_RAM[n]?=?__VECTOR_TABLE[n];
????}

????/*?把?中斷向量表地址?重新指向?RAM?里的?中斷向量表?*/
????write_vtor((uint32)__VECTOR_RAM);??
????
??????
????
????/*獲取初始化數據地址*/
????#if?(defined(CW))
????????data_ram?=?(uint8?*)__DATA_RAM;
data_rom?=?(uint8?*)__DATA_ROM;?
????????data_rom_end??=?(uint8?*)__DATA_END;?/*?This?is?actually?a?RAM?address?in?CodeWarrior?*/
????????n?=?data_rom_end?-?data_ram;
????#elif?(defined(IAR))
????????data_ram?=?__section_begin(“.data“);
????????data_rom?=?__section_begin(“.data_init“);
????????data_rom_end?=?__section_end(“.data_init“);
????????n?=?data_rom_end?-?data_rom;
????#endif

/*?復制初始化數據?*/
while?(n--)
*data_ram++?=?*data_rom++;


??????/*?獲取?.bss?段的地址?(初始化數據為0)?*/
??????#if?(defined(CW))
??????????????bss_start?=?(uint8?*)__START_BSS;
??????????????bss_end?=?(uint8?*)__END_BSS;
??????#elif?(defined(IAR))
??????????????bss_start?=?__section_begin(“.bss“);
??????????????bss_end?=?__section_end(“.bss“);
??????#endif
??????????????

??????/*?清除初始化為0的數據段?*/
??????n?=?bss_end?-?bss_start;
??????while(n--)
????????*bss_start++?=?0;

??????/*?把以__ramfunc聲明的子函數復制到RAM區 ?*/
??????#if?(defined(IAR))
??????????uint8*?code_relocate_ram??=?__section_begin(“CodeRelocateRam“);
??????????uint8*?code_relocate??????=?__section_begin(“CodeRelocate“);
??????????uint8*?code_relocate_end??=?__section_end(“CodeRelocate“);

??????????/*?Copy?functions?from?ROM?to?RAM?*/
??????????n?=?code_relocate_end?-?code_relocate;
??????????while?(n--)
??????????????????*code_relocate_ram++?=?*code_relocate++;
??????#endif
}
/********************************************************************/

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2014-02-25?17:43??K60簡單例程\
?????目錄???????????0??2014-02-25?17:43??K60簡單例程\K60簡單測速例程\
?????目錄???????????0??2014-02-25?17:43??K60簡單例程\K60簡單測速例程\build\
?????目錄???????????0??2014-02-25?17:43??K60簡單例程\K60簡單測速例程\build\ftm_demo\
?????目錄???????????0??2014-02-25?17:43??K60簡單例程\K60簡單測速例程\build\ftm_demo\FLASH\
?????目錄???????????0??2014-02-25?17:43??K60簡單例程\K60簡單測速例程\build\ftm_demo\FLASH\Exe\
?????文件???????25034??2012-12-25?21:21??K60簡單例程\K60簡單測速例程\build\ftm_demo\FLASH\Exe\ftm_demo.srec
?????文件??????110424??2012-12-25?21:21??K60簡單例程\K60簡單測速例程\build\ftm_demo\FLASH\Exe\gpio_demo.out
?????文件????????9127??2012-12-25?21:22??K60簡單例程\K60簡單測速例程\build\ftm_demo\FLASH\Exe\gpio_demo.sim
?????文件???????34100??2012-10-24?16:24??K60簡單例程\K60簡單測速例程\build\ftm_demo\FLASH\Exe\gpio_demo.srec
?????目錄???????????0??2014-02-25?17:43??K60簡單例程\K60簡單測速例程\build\ftm_demo\FLASH\List\
?????文件???????54796??2012-12-25?19:28??K60簡單例程\K60簡單測速例程\build\ftm_demo\FLASH\List\adc.lst
?????文件???????36670??2012-12-25?19:28??K60簡單例程\K60簡單測速例程\build\ftm_demo\FLASH\List\adc.s
?????文件???????32121??2012-12-25?21:20??K60簡單例程\K60簡單測速例程\build\ftm_demo\FLASH\List\arm_cm4.lst
?????文件???????20941??2012-12-25?21:20??K60簡單例程\K60簡單測速例程\build\ftm_demo\FLASH\List\arm_cm4.s
?????文件???????25132??2012-12-25?20:26??K60簡單例程\K60簡單測速例程\build\ftm_demo\FLASH\List\assert.lst
?????文件???????16145??2012-12-25?20:26??K60簡單例程\K60簡單測速例程\build\ftm_demo\FLASH\List\assert.s
?????文件???????17335??2012-12-25?19:28??K60簡單例程\K60簡單測速例程\build\ftm_demo\FLASH\List\exti.lst
?????文件???????13662??2012-12-25?19:28??K60簡單例程\K60簡單測速例程\build\ftm_demo\FLASH\List\exti.s
?????文件???????19427??2012-12-25?21:20??K60簡單例程\K60簡單測速例程\build\ftm_demo\FLASH\List\FTM.lst
?????文件???????14951??2012-12-25?21:20??K60簡單例程\K60簡單測速例程\build\ftm_demo\FLASH\List\FTM.s
?????文件????????8958??2012-12-25?21:20??K60簡單例程\K60簡單測速例程\build\ftm_demo\FLASH\List\fun.lst
?????文件????????7607??2012-12-25?21:20??K60簡單例程\K60簡單測速例程\build\ftm_demo\FLASH\List\fun.s
?????文件???????26563??2012-12-25?19:28??K60簡單例程\K60簡單測速例程\build\ftm_demo\FLASH\List\gpio.lst
?????文件???????18595??2012-12-25?19:28??K60簡單例程\K60簡單測速例程\build\ftm_demo\FLASH\List\gpio.s
?????文件????????4553??2012-12-25?21:20??K60簡單例程\K60簡單測速例程\build\ftm_demo\FLASH\List\isr.lst
?????文件????????4676??2012-12-25?21:20??K60簡單例程\K60簡單測速例程\build\ftm_demo\FLASH\List\isr.s
?????文件???????47499??2012-12-25?19:28??K60簡單例程\K60簡單測速例程\build\ftm_demo\FLASH\List\LED.lst
?????文件???????29652??2012-12-25?19:28??K60簡單例程\K60簡單測速例程\build\ftm_demo\FLASH\List\LED.s
?????文件???????12628??2012-12-25?21:20??K60簡單例程\K60簡單測速例程\build\ftm_demo\FLASH\List\lptmr.lst
?????文件???????10425??2012-12-25?21:20??K60簡單例程\K60簡單測速例程\build\ftm_demo\FLASH\List\lptmr.s
............此處省略350個文件信息

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