ccs4编程问题

只看该作者 · 2014-3-28 14:41

//==============================================================
//PID.c文件
//==============================================================
#include "DSP28x_Project.h"
#include "C28x_FPU_FastRTS.h"
#include <math.h>

#include "PID.h"

//========函数定义 ===========================
//**********************************
/*
  @ Description:
  @ Param
  @ Return
*/
//**********************************
void PIDfunc_calc(PID_FUNC *p)
{
//使用条件编译指令进行切换
#if PID_DEBUG  //在校正PID参数时，使用宏定义将PID_DEBUG设为1，从而执行以下程序
float a0,a1,a2;

//这里每次都要计算 a0、a1、a2的值
a0 = p->Kp*(1 + p->T/p->Ti + p->Td/p->T);
a1 = p->Kp*(1 + 2*p->Td/p->T);
a2 = p->Kp*p->Td/p->T;

//计算PID调节器的输出
p->Output = p->LastOutput + a0*p->Ek - a1*p->Ek_1 + a2*p->Ek_2;

#else  //当参数校正完成后，那么得到固定的a0、a1、a2的值，使用宏定义将PID_DEBUG设为0，从而执行以下过程
//当参数校正完成后，初始化时直接为p->a0、p->a1、p->a2赋值，省去计算过程
p->Output = p->LastOutput + p->a0*p->Ek - p->a1*p->Ek_1 + p->a2*p->Ek_2;
#endif

  //输出限幅
if(p->Output > p->OutMax) p->Output = p->OutMax;
if(p->Output < p->OutMin) p->Output = p->OutMin;

  //保存上一周期的值
p->LastOutput = p->Output;
p->Ek_1 = p->Ek;
p->Ek_2 = p->Ek_1;
}
//==============================================================
//End of file.
//==============================================================

undefined first referenced
  symbol    in file
--------- ----------------
_main    D:\Texas Instruments\ccsv4\tools\compiler\c2000\lib\rts2800_fpu32.lib<args_main.obj>

error: unresolved symbols remain
error: errors encountered during linking; "PID.out" not built

>> Compilation failure
D:\Texas Instruments\ccsv4\utils\gmake\gmake: *** [PID.out] Error 1
D:\Texas Instruments\ccsv4\utils\gmake\gmake: Target `all' not remade because of errors.
出现以上错误，换了库文件还是不行。