blockformula_editor u[T] = K_p \cdot err[T] + K_i \cdot \Sigma _{i = 0}^{T} err[i] \cdot \Delta T[i] + K_d \cdot (err[T] - err[T - 1])
C++实现
uint32_t currTime = micros();
uint32_t dt = currTime - prevTime;
err = ref - feedback;
integral += err * (float) dt / 1000000;
output = kp * err + ki * integral + kd * (err - lastError);
lastError = err;
prevTime = currTime;
lib/utils/pyexec.c中有int pyexec_friendly_repl(void)函数。
qstr.h中
enum {
#ifndef NO_QSTR
#define QDEF(id, str) id,
#include "genhdr/qstrdefs.generated.h"
#undef QDEF
#endif
MP_QSTRnumber_of, // no underscore so it can't clash with any of the above
};
调用gendhr/导致报错
NO_QSTR来自py/mkrules.mk。
void mp_init(void) {
...
soft_reset:
// initialise the stack pointer for the main thread
mp_stack_set_top((void *)sp);
mp_stack_set_limit(MP_TASK_STACK_SIZE - 1024);
gc_init(mp_task_heap, mp_task_heap + mp_task_heap_size);
mp_init();
/* ---- ---- */
// mp_obj_list_init(mp_sys_path, 0);
// mp_obj_list_append(mp_sys_path, MP_OBJ_NEW_QSTR(MP_QSTR_));
// mp_obj_list_append(mp_sys_path, MP_OBJ_NEW_QSTR(MP_QSTR__slash_lib));
// mp_obj_list_init(mp_sys_argv, 0);
/* ---- ---- */
readline_init0();
...
}
C:\Users\rui\.platformio\packages\framework-espidf\components\libsodium\libsodium\src\libsodium\sodium\core.c:51:5: error: implicit declaration of function '_sodium_runtime_get_cpu_features' [-Werror=implicit-function-declaration]
_sodium_runtime_get_cpu_features();
推测是idf版本问题
2020.10.16
发现是有个文件夹复制过来没删掉.c文件。
删除后编译出现undefined reference to 'esp_eth_enable'之类的问题，使用esp-idf 4.0重新编译后除了BLE之外还出现如下错误
undefined reference to `pppapi_pppos_create'
undefined reference to `pppapi_free'
undefined reference to `pppapi_close'
...
undefined reference to `xQueueCreateMutexStatic'
去掉BLE之后依然存在这些错误
pppapi相关函数来自network_ppp.c，用于PPPoS(PPP over Serial，GSM Modem。
在port/esp32/Makefile中的SRC_C中去掉这个文件，再次编译静态库，然后在playformio中编译，剩下三个错误：
libmicropython.a(modnetwork.o):(.rodata.mp_module_network_globals_table+0x1c): undefined reference to `ppp_make_new_obj'
libmicropython.a(mpthreadport.o):(.literal.mp_thread_mutex_init+0x0): undefined reference to `xQueueCreateMutexStatic'
\libmicropython.a(mpthreadport.o): in function `mp_thread_mutex_init':
mpthreadport.c:(.text.mp_thread_mutex_init+0x7): undefined reference to `xQueueCreateMutexStatic'
modnetwork.c中引用ppp_make_new_obj，这个错误在之前有network_ppp.c的时候没有出现。应该是有依赖关系。
vscode中查找ppp_make_new_obj没找到定义。如果再把modnetwork.c去掉又会出现新的错误。所以还是把network_ppp.c加回去了。
参考Makefile把该加的头文件加上
LIB_SRC_C = $(addprefix lib/,\
mbedtls_errors/mp_mbedtls_errors.c \
mp-readline/readline.c \
netutils/netutils.c \
timeutils/timeutils.c \
utils/pyexec.c \
utils/interrupt_char.c \
utils/sys_stdio_mphal.c \
)
没变化。
ble报错的原因可能是.vscode/c_cpp_properties.json的includePath没加入.platformio/packages/framework-espidf/components/bt之类的路径，对应Makefile中的
ifeq ($(CONFIG_BT_NIMBLE_ENABLED),y)
INC_ESPCOMP += -I$(ESPCOMP)/bt/include
INC_ESPCOMP += -I$(ESPCOMP)/bt/common/osi/include
INC_ESPCOMP += -I$(ESPCOMP)/bt/common/btc/include
INC_ESPCOMP += -I$(ESPCOMP)/bt/common/include
INC_ESPCOMP += -I$(ESPCOMP)/bt/host/nimble/nimble/porting/nimble/include
INC_ESPCOMP += -I$(ESPCOMP)/bt/host/nimble/port/include
INC_ESPCOMP += -I$(ESPCOMP)/bt/host/nimble/nimble/nimble/include
INC_ESPCOMP += -I$(ESPCOMP)/bt/host/nimble/nimble/nimble/host/include
INC_ESPCOMP += -I$(ESPCOMP)/bt/host/nimble/nimble/nimble/host/services/ans/include
INC_ESPCOMP += -I$(ESPCOMP)/bt/host/nimble/nimble/nimble/host/services/bas/include
INC_ESPCOMP += -I$(ESPCOMP)/bt/host/nimble/nimble/nimble/host/services/gap/include
INC_ESPCOMP += -I$(ESPCOMP)/bt/host/nimble/nimble/nimble/host/services/gatt/include
INC_ESPCOMP += -I$(ESPCOMP)/bt/host/nimble/nimble/nimble/host/services/ias/include
INC_ESPCOMP += -I$(ESPCOMP)/bt/host/nimble/nimble/nimble/host/services/lls/include
INC_ESPCOMP += -I$(ESPCOMP)/bt/host/nimble/nimble/nimble/host/services/tps/include
INC_ESPCOMP += -I$(ESPCOMP)/bt/host/nimble/nimble/nimble/host/util/include
INC_ESPCOMP += -I$(ESPCOMP)/bt/host/nimble/nimble/nimble/host/store/ram/include
INC_ESPCOMP += -I$(ESPCOMP)/bt/host/nimble/nimble/nimble/host/store/config/include
INC_ESPCOMP += -I$(ESPCOMP)/bt/host/nimble/nimble/porting/npl/freertos/include
INC_ESPCOMP += -I$(ESPCOMP)/bt/host/nimble/nimble/ext/tinycrypt/include
INC_ESPCOMP += -I$(ESPCOMP)/bt/host/nimble/esp-hci/include
endif
ifeq ($(CONFIG_NIMBLE_ENABLED),y)
INC_ESPCOMP += -I$(ESPCOMP)/bt/include
INC_ESPCOMP += -I$(ESPCOMP)/nimble/nimble/porting/nimble/include
INC_ESPCOMP += -I$(ESPCOMP)/nimble/port/include
INC_ESPCOMP += -I$(ESPCOMP)/nimble/nimble/nimble/include
INC_ESPCOMP += -I$(ESPCOMP)/nimble/nimble/nimble/host/include
INC_ESPCOMP += -I$(ESPCOMP)/nimble/nimble/nimble/host/services/ans/include
INC_ESPCOMP += -I$(ESPCOMP)/nimble/nimble/nimble/host/services/bas/include
INC_ESPCOMP += -I$(ESPCOMP)/nimble/nimble/nimble/host/services/gap/include
INC_ESPCOMP += -I$(ESPCOMP)/nimble/nimble/nimble/host/services/gatt/include
INC_ESPCOMP += -I$(ESPCOMP)/nimble/nimble/nimble/host/services/ias/include
INC_ESPCOMP += -I$(ESPCOMP)/nimble/nimble/nimble/host/services/lls/include
INC_ESPCOMP += -I$(ESPCOMP)/nimble/nimble/nimble/host/services/tps/include
INC_ESPCOMP += -I$(ESPCOMP)/nimble/nimble/nimble/host/util/include
INC_ESPCOMP += -I$(ESPCOMP)/nimble/nimble/nimble/host/store/ram/include
INC_ESPCOMP += -I$(ESPCOMP)/nimble/nimble/nimble/host/store/config/include
INC_ESPCOMP += -I$(ESPCOMP)/nimble/nimble/porting/npl/freertos/include
INC_ESPCOMP += -I$(ESPCOMP)/nimble/nimble/ext/tinycrypt/include
INC_ESPCOMP += -I$(ESPCOMP)/nimble/esp-hci/include
endif
PPPoS相关的未定义函数似乎都来自pppapi.h和pppapi.c，这两个文件来自lib/lwip/src/include和lib/lwip/src/netif，相关文件都编译到了build-GENERIC/esp-idf/lwip/liblwip.a这个静态库中
$ readelf -s liblwip.a | grep "pppapi.o" -C 5
32: 00000000 90 FUNC GLOBAL DEFAULT 18 magic_random_bytes
33: 00000000 0 NOTYPE GLOBAL DEFAULT UND memcpy
34: 00000000 17 FUNC GLOBAL DEFAULT 20 magic
35: 00000000 28 FUNC GLOBAL DEFAULT 22 magic_pow
File: liblwip.a(pppapi.o)
Symbol table '.symtab' contains 59 entries:
Num: Value Size Type Bind Vis Ndx Name
0: 00000000 0 NOTYPE LOCAL DEFAULT UND
1: 00000000 0 FILE LOCAL DEFAULT ABS pppapi.c
查看符号表
File: liblwip.a(pppapi.o)
Symbol table '.symtab' contains 59 entries:
Num: Value Size Type Bind Vis Ndx Name
0: 00000000 0 NOTYPE LOCAL DEFAULT UND
1: 00000000 0 FILE LOCAL DEFAULT ABS pppapi.c
...
45: 00000000 0 NOTYPE GLOBAL DEFAULT UND ppp_set_auth
46: 00000000 0 NOTYPE GLOBAL DEFAULT UND pppos_create
47: 00000000 0 NOTYPE GLOBAL DEFAULT UND ppp_connect
48: 00000000 0 NOTYPE GLOBAL DEFAULT UND ppp_close
49: 00000000 0 NOTYPE GLOBAL DEFAULT UND ppp_free
50: 00000000 0 NOTYPE GLOBAL DEFAULT UND ppp_ioctl
51: 00000000 21 FUNC GLOBAL DEFAULT 46 pppapi_set_default
52: 00000000 0 NOTYPE GLOBAL DEFAULT UND tcpip_api_call
53: 00000000 26 FUNC GLOBAL DEFAULT 48 pppapi_set_auth
54: 00000000 30 FUNC GLOBAL DEFAULT 50 pppapi_pppos_create
55: 00000000 25 FUNC GLOBAL DEFAULT 52 pppapi_connect
56: 00000000 25 FUNC GLOBAL DEFAULT 54 pppapi_close
57: 00000000 21 FUNC GLOBAL DEFAULT 56 pppapi_free
58: 00000000 26 FUNC GLOBAL DEFAULT 58 pppapi_ioctl
修改Makefile，将ESPIDF_LWIP_O也编入静态库中
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