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在 IAR 中将电机库函数放入 RAM 运行

关键字 :NXPMCUKV30

1.概述

2.将中断向量表放入 RAM 中运行

3.修改 .icf 链接文件

4.查看 MAP 文件




  1. 概述

          电机电流环 FOC 控制环路需要在每个 PWM 半周期时间内运行完毕（或每个 PWM 周期运行两次），在电机转速很高，即其相电流频率很高时，需要将控制频率（FOC 控制频率）提高至电流频率二十倍以上，才能保证比较好的电流正弦度和稳定性要求，但 MCU 算力有限，代码在 Flash 中运行比较慢（NXP KV30 Flash 运行频率 24MHZ，FOC 时间：45us），如果将 FOC 代码放入 RAM (100MHZ)中运行，则 FOC 运行时间缩短很多（FOC 时间:23us），此时可以提高 PWM 的频率。


  1. 将中断向量表放入 RAM 中运行

       

           FOC 运行代码一般都是在 PWM 或 ADC 中断中运行，中断函数如果是在 Flash 中，而 FOC 代码指定在 RAM 中时，IAR 在链接时并没有把 FOC 代码链接到 RAM 中，此为 IAR 的链接保护机制规定的。

 1）将默认的 .s 启动文件修改为:

       其中的中断向量表将被后面新建的替代。

MODULE ?cstartup

;; Forward declaration of sections.
SECTION CSTACK:DATA:NOROOT(3)

SECTION .intvec:CODE:NOROOT(2)

EXTERN __iar_program_start
EXTERN SystemInit
EXTERN Empty_Handler
PUBLIC __vector_table
PUBLIC __vector_table_0x1c
PUBLIC __Vectors
PUBLIC __Vectors_End
PUBLIC __Vectors_Size
PUBLIC Reset_Handler

DATA

__vector_table
DCD sfe(CSTACK)
DCD Reset_Handler

DCD Empty_Handler ;NMI Handler
DCD Empty_Handler ;Hard Fault Handler
DCD Empty_Handler ;MPU Fault Handler
DCD Empty_Handler ;Bus Fault Handler
DCD Empty_Handler ;Usage Fault Handler
__vector_table_0x1c
DCD Empty_Handler ;Reserved
DCD Empty_Handler ;Reserved
DCD Empty_Handler ;Reserved
DCD Empty_Handler ;Reserved
DCD Empty_Handler ;SVCall Handler
DCD Empty_Handler ;Debug Monitor Handler
DCD Empty_Handler ;Reserved
DCD Empty_Handler ;PendSV Handler
DCD Empty_Handler ;SysTick Handler
__Vectors_End


SECTION intvec_2:CODE:NOROOT(2)
DCD Empty_Handler




SECTION FlashConfig:CODE
__FlashConfig
DCD 0xFFFFFFFF
DCD 0xFFFFFFFF
DCD 0xFFFFFFFF
DCD 0xFFFFFFFE
__FlashConfig_End

__Vectors EQU __vector_table
__Vectors_Size EQU __Vectors_End - __Vectors


;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
;;
;; Default interrupt handlers.
;;
THUMB

PUBWEAK Reset_Handler
SECTION .text:CODE:REORDER:NOROOT(2)
Reset_Handler
CPSID I ; Mask interrupts
LDR R0, =0xE000ED08
LDR R1, =__vector_table
STR R1, [R0]
LDR R2, [R1]
MSR MSP, R2
LDR R0, =SystemInit
BLX R0
CPSIE I ; Unmask interrupts
LDR R0, =__iar_program_start
BX R0

DefaultISR
B DefaultISR

END




2）新建一个中断向量表并指定放入 RAM 地址中:

__ramfunc
void NMI_Handler(void)
{
while(1);
}
__ramfunc
void HardFault_Handler(void)
{
while(1);
}
__ramfunc
void MemManage_Handler(void)
{
while(1);
}
__ramfunc
void BusFault_Handler(void)
{
while(1);
}
__ramfunc
void UsageFault_Handler(void)
{
while(1);
}
__ramfunc
void Reserved_Handler(void)
{
while(1);
}
__ramfunc
void SVC_Handler(void)
{
while(1);
}
__ramfunc
void DebugMon_Handler(void)
{
while(1);
}
__ramfunc
void PendSV_Handler(void)
{
while(1);
}
__ramfunc
void SysTick_Handler(void)
{
while(1);
}


typedef void( *intfunc )( void );
typedef union { intfunc __fun; void * __ptr; } intvec_elem;


#pragma segment="CSTACK"
extern void Reset_Handler();
extern void FTM0_IRQHandler(void);
extern void FTM1_IRQHandler(void);
extern void PDB0_IRQHandler(void);

intvec_elem __vector_table_ram[69] @0x1FFFE000 =
{
{.__ptr = __sfe("CSTACK")},//0
Reset_Handler,
NMI_Handler,
HardFault_Handler,
MemManage_Handler,
BusFault_Handler,
UsageFault_Handler,
Reserved_Handler,
Reserved_Handler,
Reserved_Handler,
Reserved_Handler,
SVC_Handler,
DebugMon_Handler,
Reserved_Handler,
PendSV_Handler,
SysTick_Handler,//15

Reserved_Handler,//DMA0_IRQHandler,
Reserved_Handler,//DMA1_IRQHandler,
Reserved_Handler,//DMA2_IRQHandler,
Reserved_Handler,//DMA3_IRQHandler,
Reserved_Handler,
Reserved_Handler,
Reserved_Handler,
Reserved_Handler,
Reserved_Handler,
Reserved_Handler,//25

Reserved_Handler,
Reserved_Handler,
Reserved_Handler,
Reserved_Handler,
Reserved_Handler,
Reserved_Handler,
Reserved_Handler,//DMA_Error_IRQHandler,//32
Reserved_Handler,//MCM_IRQHandler,
Reserved_Handler,//FTF_IRQHandler,
Reserved_Handler,//Read_Collision_IRQHandler, //35

Reserved_Handler,//LVD_LVW_IRQHandler,
Reserved_Handler,//LLWU_IRQHandler ,
Reserved_Handler,//WDOG_EWM_IRQHandler,
Reserved_Handler,
Reserved_Handler,//I2C0_IRQHandler, //40
Reserved_Handler,
Reserved_Handler,//SPI0_IRQHandler ,//42
Reserved_Handler,
Reserved_Handler,
Reserved_Handler, //45

Reserved_Handler,
Reserved_Handler,//UART0_RX_TX_IRQHandler,//47
Reserved_Handler,//UART0_ERR_IRQHandler,
Reserved_Handler,//UART1_RX_TX_IRQHandler,
Reserved_Handler,//UART1_ERR_IRQHandler,//50
Reserved_Handler,
Reserved_Handler,
Reserved_Handler,
Reserved_Handler,
Reserved_Handler,//ADC0_IRQHandler, //55

Reserved_Handler,//CMP0_IRQHandler,

Reserved_Handler,//CMP1_IRQHandler,
FTM0_IRQHandler,
FTM1_IRQHandler,
Reserved_Handler,//FTM2_IRQHandler,
Reserved_Handler,
Reserved_Handler,
Reserved_Handler,
Reserved_Handler,//PIT0_IRQHandler,
Reserved_Handler,//PIT1_IRQHandler, //65

Reserved_Handler,//PIT2_IRQHandler,
Reserved_Handler,//PIT3_IRQHandler,
PDB0_IRQHandler,//68
};



3）在 MAIN 函数中更新 VTOR 的值:

       int main(void)

       {

            SCB->VTOR = ((uint32_t)__vector_table_ram);

            ……





  1. 修改 .icf 链接文件

          将电机库链接至 RAM 中，并让 IAR 的启动拷贝函数在 MCU 启动时自动将用到的电机库函数拷贝到 RAM 中。

 1) 新建两个 region ，一个在 Flash 地址中（电机库函数的存储地址），一个在 RAM 地址中（电机库函数的运行地址）

define region region_for_lib_RAM = mem:[from region_for_lib_RAM_start to region_for_lib_RAM_end];

define region region_for_lib_ROM = mem:[from region_for_lib_ROM_start to region_for_lib_ROM_end];

2）定义两个 BLOCK，用于指定哪些静态电机库链接到 RAM 中

define block LIB       { readwrite code object GMCLIB.a,readwrite code object AMCLIB.a,readwrite code object GFLIB.a,readwrite code object m7M_tls.a };

define block LIB_INIT  { readonly code section *_init object GMCLIB.a,readonly  code section *_init object AMCLIB.a,readonly code section *_init object GFLIB.a,readonly code section *_init object m7M_tls.a};

3） 启动时自动将 Flash 中的电机库函数拷贝到 RAM 中

initialize by copy { readonly  object GMCLIB.a  };

initialize by copy { readonly  object AMCLIB.a  };

initialize by copy { readonly  object GFLIB.a   };



完整文件如下：

define symbol m_interrupts_start = 0x00000000;
define symbol m_interrupts_end = 0x000003FF;

define symbol m_flash_config_start = 0x00000400;
define symbol m_flash_config_end = 0x0000040F;

define symbol region_for_lib_ROM_start = 0x00000410;
define symbol region_for_lib_ROM_end = 0x000017AB;

define symbol m_text_start = 0x000017AC;
define symbol m_text_end = 0x0000FFFF;

define symbol m_data_start = 0x1FFFE000;
define symbol m_data_end = 0x1FFFFFFF;

define symbol region_for_lib_RAM_start = 0x20000000;
define symbol region_for_lib_RAM_end = 0x2000139B;

define symbol m_data_2_start = 0x2000139C;
define symbol m_data_2_end = 0x20001FFF;

/* Sizes */
if (isdefinedsymbol(__stack_size__)) {
define symbol __size_cstack__ = __stack_size__;
} else {
define symbol __size_cstack__ = 0x0200;
}

if (isdefinedsymbol(__heap_size__)) {
define symbol __size_heap__ = __heap_size__;
} else {
define symbol __size_heap__ = 0x0200;
}


define memory mem with size = 4G;
define region m_flash_config_region = mem:[from m_flash_config_start to m_flash_config_end];
define region TEXT_region = mem:[from m_interrupts_start to m_interrupts_end]
| mem:[from m_text_start to m_text_end];

define region DATA_region = mem:[from m_data_start to m_data_end]
| mem:[from m_data_2_start to m_data_2_end-__size_cstack__];
define region CSTACK_region = mem:[from m_data_2_end-__size_cstack__+1 to m_data_2_end];
define region region_for_lib_RAM = mem:[from region_for_lib_RAM_start to region_for_lib_RAM_end];
define region region_for_lib_ROM = mem:[from region_for_lib_ROM_start to region_for_lib_ROM_end];

define block CSTACK with alignment = 8, size = __size_cstack__ { };
define block HEAP with alignment = 8, size = __size_heap__ { };
define block RW { readwrite };
define block ZI { zi };
define block LIB { readwrite code object GMCLIB.a,readwrite code object AMCLIB.a,readwrite code object GFLIB.a,readwrite code object m7M_tls.a };
define block LIB_INIT { readonly code section *_init object GMCLIB.a,readonly code section *_init object AMCLIB.a,readonly code section *_init object GFLIB.a,readonly code section *_init object m7M_tls.a};


initialize by copy { readwrite, section .textrw };
initialize by copy { readonly object GMCLIB.a };
initialize by copy { readonly object AMCLIB.a };
initialize by copy { readonly object GFLIB.a };
initialize by copy { readonly object m7M_tls.a };

do not initialize { section .noinit };

place at address mem: m_interrupts_start { readonly section .intvec };
place in m_flash_config_region { section FlashConfig };
place in region_for_lib_RAM { block LIB };
place in region_for_lib_ROM { block LIB_INIT };

place in TEXT_region { readonly };
place in DATA_region { block RW };
place in DATA_region { block ZI };
place in DATA_region { last block HEAP };
place in CSTACK_region { block CSTACK };




  1. 4. 查看 MAP 文件

        通过查看 IAR 编译链接后的 MAP 文件确认电机库函数放到了 RAM 地址中，如下图所示：

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