ARHS算法不起作用

大家好，


我使用的是iNEMO和ST提供的AHRS算法。我注意到函数指针初始化存在问题。这些函数指针用于指向AHRS算法（其代码不由ST提供）。特别是，使用三条指令来执行此算法：

1）//初始化所有AHRS参数
iNEMO_AHRS_Init（＆amp; xSensorData，＆amp; xEulerAngles，＆amp; xQuat）;

2）//更新
iNEMO_AHRS_Update（＆amp; xSensorData，＆amp; xEulerAngles，＆amp; xQuat）;

3）//释放内存
iNEMO_AHRS_DeInit（＆amp; xSensorData，＆amp; xEulerAngles，＆amp; xQuat）;

这些函数指针指向FLASH存储器的一部分，但是还需要RAM预留来分配算法使用的东西。实际上，必须使用以下说明：

volatile uint8_t pcDummyAHRSReserved [AHRS_RESERVED_RAM_SIZE] @AHRS_RESERVED_RAM_START_ADDR;

pcDummyAHRSReserved [0] = 0;

如ST示例程序中所指定的。但这不起作用，我想这是因为内存分配存在问题。谁能帮助我？我应该指定什么才能正确执行我的程序？先谢谢你！



以下为原文




Hello everyone,


I am using iNEMO with AHRS algorithm provided by ST. I have noticed that there is a problem about function pointers initialization. These function pointers are used to point the  AHRS algorithm (whose code is not provided by ST). In particular, three instructions are used to execute this algorithm:  

1) // Init the all AHRS parameters
     iNEMO_AHRS_Init(&xSensorData, &xEulerAngles, &xQuat);

2) //update
    iNEMO_AHRS_Update(&xSensorData, &xEulerAngles, &xQuat);

3) // Deallocate memory
    iNEMO_AHRS_DeInit(&xSensorData, &xEulerAngles, &xQuat);

These function pointers are pointing to a part of FLASH memory, but RAM reservation is also required to allocate something used by the algorithm. In fact one has to use the following instructions:  

volatile uint8_t  pcDummyAHRSReserved[AHRS_RESERVED_RAM_SIZE] @AHRS_RESERVED_RAM_START_ADDR;

pcDummyAHRSReserved[0] = 0;

as specified in an ST sample program. But this doesn't work, and I suppose this is beacuse there are problems with memory allocation. Could anyone help me? What should I specify to execute my program correctly? Thank you in advance!