【发布时间】：2014-07-08 13:51:27
【问题描述】：
我正在尝试在 dsPIC30f3011 微控制器上运行和调试 C 程序。当我在 MPLAB 中运行我的代码时，代码总是倾向于在这个 ISR 处停止，并且我完全没有任何变量的输出，我的代码甚至没有执行。我认为这似乎是某种“陷阱”程序，用于捕捉简单的错误（即振荡器故障等）。我使用的是 MPLabIDE v8.5，MPLab ICD3 处于调试模式。值得一提的是，MPLAB 显示我已连接到目标（dsPIC）和 ICD3。有人可以告诉我为什么会出现这个问题吗？
这是 ISR：
void _ISR __attribute__((no_auto_psv))_AddressError(void)
{
INTCON1bits.ADDRERR = 0;
while(1);
}
这是我的代码，首先是初始化，然后是 PID 使用，然后是 DSP 函数， 然后是派生语法/算法的实际DSP头文件。在我定义 DutyCycle 的地方也存在某种问题。
//////////////////////////初始化///////////// ///////////////////////////////////p>
#include "dsp.h" //see bottom of program
tPID SPR4535_PID; // Declare a PID Data Structure named, SPR4535_PID, initialize the PID object
/* The SPR4535_PID data structure contains a pointer to derived coefficients in X-space and */
/* pointer to controller state (history) samples in Y-space. So declare variables for the */
/* derived coefficients and the controller history samples */
fractional abcCoefficient[3] __attribute__ ((space(xmemory))); // ABC Coefficients loaded from X memory
fractional controlHistory[3] __attribute__ ((space(ymemory))); // Control History loaded from Y memory
/* The abcCoefficients referenced by the SPR4535_PID data structure */
/* are derived from the gain coefficients, Kp, Ki and Kd */
/* So, declare Kp, Ki and Kd in an array */
fractional kCoeffs[] = {0,0,0};
//////////////////////////////////PID variable use///////////////////////////////
void ControlSpeed(void)
{
LimitSlew();
PID_CHANGE_SPEED(SpeedCMD);
if (timer3avg > 0)
ActualSpeed = SPEEDMULT/timer3avg;
else
ActualSpeed = 0;
max=2*(PTPER+1);
DutyCycle=Fract2Float(PID_COMPUTE(ActualSpeed))*max;
// Just make sure the speed that will be written to the PDC1 register is not greater than the PTPER register
if(DutyCycle>max)
DutyCycle=max;
else if (DutyCycle<0)
DutyCycle=0;
}
//////////////////////////////////PID functions//////////////////////////////////
void INIT_PID(int DESIRED_SPEED)
{
SPR4535_PID.abcCoefficients = &abcCoefficient[0]; //Set up pointer to derived coefficients
SPR4535_PID.controlHistory = &controlHistory[0]; //Set up pointer to controller history samples
PIDInit(&SPR4535_PID); //Clear the controller history and the controller output
kCoeffs[0] = KP; // Sets the K[0] coefficient to the KP
kCoeffs[1] = KI; // Sets the K[1] coefficient to the KI
kCoeffs[2] = KD; // Sets the K[2] coefficient to the Kd
PIDCoeffCalc(&kCoeffs[0], &SPR4535_PID); //Derive the a,b, & c coefficients from the Kp, Ki & Kd
SPR4535_PID.controlReference = DESIRED_SPEED; //Set the Reference Input for your controller
}
int PID_COMPUTE(int MEASURED_OUTPUT)
{
SPR4535_PID.measuredOutput = MEASURED_OUTPUT; // Records the measured output
PID(&SPR4535_PID);
return SPR4535_PID.controlOutput; // Computes the control output
}
void PID_CHANGE_SPEED (int NEW_SPEED)
{
SPR4535_PID.controlReference = NEW_SPEED; // Changes the control reference to change the desired speed
}
/////////////////////////////////////dsp.h/////////////////////////////////////////////////
typedef struct {
fractional* abcCoefficients; /* Pointer to A, B & C coefficients located in X-space */
/* These coefficients are derived from */
/* the PID gain values - Kp, Ki and Kd */
fractional* controlHistory; /* Pointer to 3 delay-line samples located in Y-space */
/* with the first sample being the most recent */
fractional controlOutput; /* PID Controller Output */
fractional measuredOutput; /* Measured Output sample */
fractional controlReference; /* Reference Input sample */
} tPID;
/*...........................................................................*/
extern void PIDCoeffCalc( /* Derive A, B and C coefficients using PID gain values-Kp, Ki & Kd*/
fractional* kCoeffs, /* pointer to array containing Kp, Ki & Kd in sequence */
tPID* controller /* pointer to PID data structure */
);
/*...........................................................................*/
extern void PIDInit ( /* Clear the PID state variables and output sample*/
tPID* controller /* pointer to PID data structure */
);
/*...........................................................................*/
extern fractional* PID ( /* PID Controller Function */
tPID* controller /* Pointer to PID controller data structure */
);
【问题讨论】：
-
那么
while(1);声明肯定会挂你的芯片。我不熟悉芯片，但我想这是由于未对齐的访问（即尝试在奇数字节地址读取 16 位数量）。 -
你在什么模式下操作？
-
@Treesrule14 如果你的意思是“模式”，就像我通过 MPLAB 驱动我的设备和 MCU 一样，那么我在“调试”中运行。
-
通常当中断发生时，返回地址被压入堆栈。如果您可以检查堆栈以找到返回地址，那么您可以找到发生地址异常时正在执行的代码。
-
我们可以看看你的代码吗？通常，在库代码中查找错误也不是特别有帮助。
标签： c microcontroller pic memory-address mplab