Question

我在Sourcery CodeBench IDE中使用C，在STM32F10X中编程，以及编译此代码时

int main(void){

RCC_Configuration();

/* NVIC configuration */
NVIC_Configuration();

/* GPIO configuration */
GPIO_Configuration();

SysTick_Configuration();

Timer_Configuration();

dxl_initialize( 0, 1 );
USART_Configuration(USART_PC, Baudrate_PC);

GoalPos1[0]= 333;
GoalPos1[1]= 333;
GoalPos2[0]=690;
GoalPos2[1]=690;
GoalPos5[0]=412;
GoalPos5[1]=412;
GoalPos6[0]=611;
GoalPos6[1]=611;
GoalPos7[0]=355;
GoalPos7[1]=355;
GoalPos8[0]=664;
GoalPos8[1]=664;
double t = 1.0;

while(1)
{
    bMoving = dxl_read_byte( id, P_MOVING );
    CommStatus = dxl_get_result();
    if( CommStatus == COMM_RXSUCCESS )
    {
        if( bMoving == 0 )
        {
            if(t<=2){GoalPos3[0]=(int)(-1.5*t+300.7);GoalPos3[1]=(int)(-1.5*t+300.7);}else{GoalPos3[0]=298;GoalPos3[1]=298;}if(t<=2){GoalPos4[0]=(int)(1.5*t+721.0);GoalPos4[1]=(int)(1.5*t+721.0);}else{GoalPos4[0]=724;GoalPos4[1]=724;}GoalPos9[0]=(int)(0.0001661*t*t*t*t*t*t+0.0006153*t*t*t*t*t-0.1318*t*t*t*t+1.254*t*t*t+2.925*t*t-43.64*t+527.9);GoalPos9[1]=GoalPos9[0];GoalPos10[0]=(int)(0.0003296*t*t*t*t*t*t-0.01189*t*t*t*t*t+0.2032*t*t*t*t-2.895*t*t*t+27.86*t*t-109.9*t+613.8);GoalPos10[1]=GoalPos10[0];GoalPos11[0]=(int)(-0.006659*t*t*t*t*t*t+0.2862*t*t*t*t*t-4.584*t*t*t*t+33.35*t*t*t-105.1*t*t+102.1*t+379.3);GoalPos11[1]=GoalPos11[0];GoalPos12[0]=(int)(0.000823*t*t*t*t*t*t-0.01887*t*t*t*t*t-0.09102*t*t*t*t+5.247*t*t*t-44.36*t*t+130.7*t+528.9);GoalPos12[1]=GoalPos12[0];GoalPos13[0]=(int)(-0.003788*t*t*t*t*t*t+0.1389*t*t*t*t*t-1.64*t*t*t*t+5.74*t*t*t+7.459*t*t-24.55*t+297.2);GoalPos13[1]=GoalPos13[0];GoalPos14[0]=(int)(0.002975*t*t*t*t*t*t-0.1283*t*t*t*t*t+2.114*t*t*t*t-16.1*t*t*t+50.88*t*t-38.08*t+744.6);GoalPos14[1]=GoalPos14[0];GoalPos15[0]=(int)(-0.007288*t*t*t*t*t*t+0.3476*t*t*t*t*t-6.384*t*t*t*t+55.4*t*t*t-219.1*t*t+301.6*t+492.8);GoalPos15[1]=GoalPos15[0];GoalPos16[0]=(int)(0.001997*t*t*t*t*t*t-0.07483*t*t*t*t*t+0.881*t*t*t*t-2.857*t*t*t-5.658*t*t+27.76*t+378.4);GoalPos16[1]=GoalPos16[0];GoalPos17[0]=(int)(-0.0002364 *t*t*t*t*t*t+0.02187*t*t*t*t*t-0.5432 *t*t*t*t+4.617*t*t*t-6.029*t*t-49.48*t+537.6);GoalPos17[1]=GoalPos17[0];GoalPos18[0]=(int)(0.000729*t*t*t*t*t*t-0.03161*t*t*t*t*t+0.5943 *t*t*t*t-7.041*t*t*t+52.96*t*t-183.3*t+664.7); GoalPos18[1]=GoalPos18[0];
            Posicao();
        }

        PrintErrorCode();

        // Read present position
        wPresentPos = dxl_read_word( id, P_PRESENT_POSITION_L );
        TxDWord16(GoalPos[INDEX]);
        TxDString("   ");
        TxDWord16(wPresentPos);
        TxDByte_PC('\r');
        TxDByte_PC('\n');
    }
    else
        PrintCommStatus(CommStatus);
    t = t + 0.01;
}
return 0;}

当我运行它时，请提供以下信息：

C：\ Users \ Gilmar \ Dropbox \ L008 - Bloco Delta \ Trabalho \ pdpd \ PDPD LIBS \ CM530 \ 09 DXL READ_WRITE / APP / src / main.c：179：未定义引用__aeabi_dcmple' C:\Users\Gilmar\Dropbox\L008 - Bloco Delta\Trabalho\pdpd\PDPD LIBS\CM530\09 DXL READ_WRITE/APP/src/main.c:179: undefined reference to __ aeabi_dmul＆＃ 39; C：\ Users \ Gilmar \ Dropbox \ L008 - Bloco Delta \ Trabalho \ pdpd \ PDPD LIBS \ CM530 \ 09 DXL READ_WRITE / APP / src / main.c：179：未定义引用__aeabi_dadd' C:\Users\Gilmar\Dropbox\L008 - Bloco Delta\Trabalho\pdpd\PDPD LIBS\CM530\09 DXL READ_WRITE/APP/src/main.c:179: undefined reference to __ aeabi_d2iz＆＃39; C：\ Users \ Gilmar \ Dropbox \ L008 - Bloco Delta \ Trabalho \ pdpd \ PDPD LIBS \ CM530 \ 09 DXL READ_WRITE / APP / src / main.c：179：未定义引用__aeabi_dmul' C:\Users\Gilmar\Dropbox\L008 - Bloco Delta\Trabalho\pdpd\PDPD LIBS\CM530\09 DXL READ_WRITE/APP/src/main.c:179: undefined reference to __ aeabi_dadd＆＃39; C：\ Users \ Gilmar \ Dropbox \ L008 - Bloco Delta \ Trabalho \ pdpd \ PDPD LIBS \ CM530 \ 09 DXL READ_WRITE / APP / src / main.c：179：未定义引用__aeabi_d2iz' C:\Users\Gilmar\Dropbox\L008 - Bloco Delta\Trabalho\pdpd\PDPD LIBS\CM530\09 DXL READ_WRITE/APP/src/main.c:179: undefined reference to __ aeabi_dmul＆＃39; C：\ Users \ Gilmar \ Dropbox \ L008 - Bloco Delta \ Trabalho \ pdpd \ PDPD LIBS \ CM530 \ 09 DXL READ_WRITE / APP / src / main.c：179：未定义引用__aeabi_dmul' C:\Users\Gilmar\Dropbox\L008 - Bloco Delta\Trabalho\pdpd\PDPD LIBS\CM530\09 DXL READ_WRITE/APP/src/main.c:179: undefined reference to __ aeabi_dmul＆＃39; C：\ Users \ Gilmar \ Dropbox \ L008 - Bloco Delta \ Trabalho \ pdpd \ PDPD LIBS \ CM530 \ 09 DXL READ_WRITE / APP / src / main.c：179：未定义引用__aeabi_dmul' C:\Users\Gilmar\Dropbox\L008 - Bloco Delta\Trabalho\pdpd\PDPD LIBS\CM530\09 DXL READ_WRITE/APP/src/main.c:179: undefined reference to __ aeabi_dmul＆＃39; APP / src / main.o:C: \ Users \ Gilmar \ Dropbox \ L008 - Bloco Delta \ Trabalho \ pdpd \ PDPD LIBS \ CM530 \ 09 DXL READ_WRITE / APP / src / main.c：179：更多未定义的引用` __aeabi_dmul＆＃39;遵循

我该如何解决这个问题？当我评论行t = t + 0.01时，代码Works，但我需要添加0.01。我已经尝试过float，double和int，任何数字，当我把孤独，工作，我的问题只是在总和。

Answer 1

您的编译器需要一个软浮点库的实现来处理浮点运算。未定义的符号表示编译器没有链接到软浮点实现。

我不知道你是否需要双精度，但如果可能的话，我建议不要使用它 - 单精度浮动对于架构来说不那么痛苦。您需要确保将编译器设置为使用合适的浮点ABI，并且它具有适当的软浮点实现。您的Cortex M3没有硬件浮点单元。

构建失败 - 嵌入式C STM32F10X

1 个答案: