AU1200 BSP的变量未声明错误

本文介绍了解决AU1200BSP在编译过程中出现的未声明变量错误的方法。需要安装特定的补丁或更新包才能使系统正常编译。

//========================================================================
//TITLE:
// AU1200 BSP的变量未声明错误
//AUTHOR:
// norains
//DATE:
// Friday 04-April-2008
//Environment:
// PB 5.0 + DB1200 BSP
//========================================================================

在RMI网站上下载最新的AU1200 BSP v1.5.1后,如果你的PB是安装完毕并没有Update的话,那么在Build And Sysgen时,可能会出现如下错误:
.../PLATFORM/DB1200/DRIVERS/IDE_1200/ide_1200.cpp(319) :error C2065: 'm_bDMAReadCommand' : undeclared identifier
.../PLATFORM/DB1200/DRIVERS/IDE_1200/ide_1200.cpp(319) : error C2065: 'm_bDMAWriteCommand' : undeclared identifier

m_bDMAReadCommand和m_bDMAWriteCommand这两个变量不是在DRIVERS文件夹中声明的;并且如果你的PB并没有更新到“Windows CE 5.0 Update 060331_2006M03”升级包的话,那你也是没有办法找到。只有Update了该升级包,你才能在%_WINCEROOT%/public/common/oak/drivers/block/atapi/文件夹下的diskmain.h找到这两变量的声明。

其实这在AU1200 BSP V1.5.1的Release文档中已经说明得很清楚,需要安装如下补丁或文件才能正常进行系统的编译:

QFEs installed
o 2005 Yearly update: WinCEPB50-051231-Product-Update-Rollup-MIPSII.msi
o 2006 Yearly update: WinCEPB50-061231-Product-Update-Rollup-MIPSII.msi
o Windows CE 5.0_Update_070131_2007M01-MIPSII.msi
o Windows CE 5.0_Update_070228_2007M02-MIPSII.msi
o Windows CE 5.0_Update_070331_2007M03-MIPSII.msi
o Windows CE 5.0_Update_070430_2007M04-MIPSII.msi
o Windows CE 5.0 RMI PUBLIC Code Update host_usbmsc.patch
o Windows CE 5.0 RMI PUBLIC Code Update host_usbhub.patch

最后的两个文件可以在所下载的BSP中找到,而前面的都是PB的更新,可以到微软的网站中下载:http://msdn2.microsoft.com/zh-cn/embedded/aa731256(en-us).aspx

不过截止到目前为止(2008年4月),其实只要下载并安装2007年累积升级包即可解决问题,而不必要下载文档所描述的月份升级包,因为2007年度累积升级包已经全部将其包含了。

/* * Copyright 2016, The Android Open Source Project * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. */ #include "hardware_legacy/wifi.h" #include <fcntl.h> #include <stdlib.h> #include <dirent.h> #include <sys/stat.h> #include <unistd.h> #include <errno.h> #include <sys/syscall.h> #include <android-base/logging.h> #include <cutils/misc.h> #include <cutils/properties.h> #include <private/android_filesystem_config.h> extern "C" int init_module(void *, unsigned long, const char *); extern "C" int delete_module(const char *, unsigned int); #define WIFI_MODULE_PATH "/vendor/lib/modules/" #define RTL8188EU_DRIVER_MODULE_PATH WIFI_MODULE_PATH"8188eu.ko" #define RTL8723BU_DRIVER_MODULE_PATH WIFI_MODULE_PATH"8723bu.ko" #define AIC_BSP_DRIVER_MODULE_PATH WIFI_MODULE_PATH"aic8800_bsp.ko" #define AIC8800_DRIVER_MODULE_PATH WIFI_MODULE_PATH"aic8800_fdrv.ko" #define RTL8723BS_DRIVER_MODULE_PATH WIFI_MODULE_PATH"8723bs.ko" #define RTL8723BS_VQ0_DRIVER_MODULE_PATH WIFI_MODULE_PATH"8723bs-vq0.ko" #define RTL8723CS_DRIVER_MODULE_PATH WIFI_MODULE_PATH"8723cs.ko" #define RTL8723DS_DRIVER_MODULE_PATH WIFI_MODULE_PATH"8723ds.ko" #define RTL8188FU_DRIVER_MODULE_PATH WIFI_MODULE_PATH"8188fu.ko" #define RTL8822BU_DRIVER_MODULE_PATH WIFI_MODULE_PATH"8822bu.ko" #define RTL8822BS_DRIVER_MODULE_PATH WIFI_MODULE_PATH"8822bs.ko" #define RTL8189ES_DRIVER_MODULE_PATH WIFI_MODULE_PATH"8189es.ko" #define RTL8189FS_DRIVER_MODULE_PATH WIFI_MODULE_PATH"8189fs.ko" #define RTL8192DU_DRIVER_MODULE_PATH WIFI_MODULE_PATH"8192du.ko" #define RTL8812AU_DRIVER_MODULE_PATH WIFI_MODULE_PATH"8812au.ko" #define RTL8822BE_DRIVER_MODULE_PATH WIFI_MODULE_PATH"8822be.ko" #define RTL8821CS_DRIVER_MODULE_PATH WIFI_MODULE_PATH"8821cs.ko" #define RTL8822CU_DRIVER_MODULE_PATH WIFI_MODULE_PATH"8822cu.ko" #define RTL8822CS_DRIVER_MODULE_PATH WIFI_MODULE_PATH"8822cs.ko" #define SSV6051_DRIVER_MODULE_PATH WIFI_MODULE_PATH"ssv6051.ko" #define ESP8089_DRIVER_MODULE_PATH WIFI_MODULE_PATH"esp8089.ko" #define BCM_DRIVER_MODULE_PATH WIFI_MODULE_PATH"bcmdhd.ko" #define MLAN_DRIVER_MODULE_PATH WIFI_MODULE_PATH"mlan.ko" #define MVL_DRIVER_MODULE_PATH WIFI_MODULE_PATH"sd8xxx.ko" #define RK912_DRIVER_MODULE_PATH WIFI_MODULE_PATH"rk912.ko" #define SPRDWL_DRIVER_MODULE_PATH WIFI_MODULE_PATH"sprdwl_ng.ko" #define DRIVER_MODULE_PATH_UNKNOW "" #define RTL8188EU_DRIVER_MODULE_NAME "8188eu" #define RTL8723BU_DRIVER_MODULE_NAME "8723bu" #define AIC8800_DRIVER_MODULE_NAME "aic8800_fdrv" #define RTL8723BS_DRIVER_MODULE_NAME "8723bs" #define RTL8723BS_VQ0_DRIVER_MODULE_NAME "8723bs-vq0" #define RTL8723CS_DRIVER_MODULE_NAME "8723cs" #define RTL8723DS_DRIVER_MODULE_NAME "8723ds" #define RTL8188FU_DRIVER_MODULE_NAME "8188fu" #define RTL8822BU_DRIVER_MODULE_NAME "8822bu" #define RTL8822BS_DRIVER_MODULE_NAME "8822bs" #define RTL8189ES_DRIVER_MODULE_NAME "8189es" #define RTL8189FS_DRIVER_MODULE_NAME "8189fs" #define RTL8192DU_DRIVER_MODULE_NAME "8192du" #define RTL8812AU_DRIVER_MODULE_NAME "8812au" #define RTL8822BE_DRIVER_MODULE_NAME "8822be" #define RTL8821CS_DRIVER_MODULE_NAME "8821cs" #define RTL8822CU_DRIVER_MODULE_NAME "8822cu" #define RTL8822CS_DRIVER_MODULE_NAME "8822cs" #define SSV6051_DRIVER_MODULE_NAME "ssv6051" #define ESP8089_DRIVER_MODULE_NAME "esp8089" #define BCM_DRIVER_MODULE_NAME "bcmdhd" #define MVL_DRIVER_MODULE_NAME "sd8xxx" #define RK912_DRIVER_MODULE_NAME "rk912" #define SPRDWL_DRIVER_MODULE_NAME "sprdwl" #define DRIVER_MODULE_NAME_UNKNOW "" #ifndef WIFI_DRIVER_FW_PATH_STA #define WIFI_DRIVER_FW_PATH_STA NULL #endif #ifndef WIFI_DRIVER_FW_PATH_AP #define WIFI_DRIVER_FW_PATH_AP NULL #endif #ifndef WIFI_DRIVER_FW_PATH_P2P #define WIFI_DRIVER_FW_PATH_P2P NULL #endif #ifndef WIFI_DRIVER_MODULE_ARG #define WIFI_DRIVER_MODULE_ARG "" #endif static const char DRIVER_PROP_NAME[] = "wlan.driver.status"; #ifndef WIFI_DRIVER_MODULE_PATH #define WIFI_DRIVER_MODULE_PATH "/vendor/lib/modules/none" #endif #ifndef WIFI_DRIVER_MODULE_NAME #define WIFI_DRIVER_MODULE_NAME "wlan" #endif #ifdef WIFI_DRIVER_MODULE_PATH //static const char DRIVER_MODULE_NAME[] = WIFI_DRIVER_MODULE_NAME; static const char DRIVER_MODULE_TAG[] = WIFI_DRIVER_MODULE_NAME " "; //static const char DRIVER_MODULE_PATH[] = WIFI_DRIVER_MODULE_PATH; //static const char DRIVER_MODULE_ARG[] = WIFI_DRIVER_MODULE_ARG; static const char MODULE_FILE[] = "/proc/modules"; #endif enum { KERNEL_VERSION_3_0_8 = 1, KERNEL_VERSION_3_0_36, KERNEL_VERSION_3_10, KERNEL_VERSION_4_4, KERNEL_VERSION_4_19, }; typedef struct _wifi_ko_file_name { char wifi_name[64]; char wifi_driver_name[64]; char wifi_module_path[128]; char wifi_module_arg[128]; }wifi_ko_file_name; #define UNKKOWN_DRIVER_MODULE_ARG "" #define SSV6051_DRIVER_MODULE_ARG "stacfgpath=/vendor/etc/firmware/ssv6051-wifi.cfg" #define MVL88W8977_DRIVER_MODULE_ARG "drv_mode=1 fw_name=mrvl/sd8977_wlan_v2.bin cal_data_cfg=none cfg80211_wext=0xf" wifi_ko_file_name module_list[] = { {"RTL8723BU", RTL8723BU_DRIVER_MODULE_NAME, RTL8723BU_DRIVER_MODULE_PATH, UNKKOWN_DRIVER_MODULE_ARG}, {"AIC8800",AIC8800_DRIVER_MODULE_NAME, AIC8800_DRIVER_MODULE_PATH, UNKKOWN_DRIVER_MODULE_ARG}, {"RTL8188EU", RTL8188EU_DRIVER_MODULE_NAME, RTL8188EU_DRIVER_MODULE_PATH, UNKKOWN_DRIVER_MODULE_ARG}, {"RTL8192DU", RTL8192DU_DRIVER_MODULE_NAME, RTL8192DU_DRIVER_MODULE_PATH, UNKKOWN_DRIVER_MODULE_ARG}, {"RTL8822BU", RTL8822BU_DRIVER_MODULE_NAME, RTL8822BU_DRIVER_MODULE_PATH, UNKKOWN_DRIVER_MODULE_ARG}, {"RTL8822BS", RTL8822BS_DRIVER_MODULE_NAME, RTL8822BS_DRIVER_MODULE_PATH, UNKKOWN_DRIVER_MODULE_ARG}, {"RTL8188FU", RTL8188FU_DRIVER_MODULE_NAME, RTL8188FU_DRIVER_MODULE_PATH, UNKKOWN_DRIVER_MODULE_ARG}, {"RTL8189ES", RTL8189ES_DRIVER_MODULE_NAME, RTL8189ES_DRIVER_MODULE_PATH, UNKKOWN_DRIVER_MODULE_ARG}, {"RTL8723BS", RTL8723BS_DRIVER_MODULE_NAME, RTL8723BS_DRIVER_MODULE_PATH, UNKKOWN_DRIVER_MODULE_ARG}, {"RTL8723CS", RTL8723CS_DRIVER_MODULE_NAME, RTL8723CS_DRIVER_MODULE_PATH, UNKKOWN_DRIVER_MODULE_ARG}, {"RTL8723DS", RTL8723DS_DRIVER_MODULE_NAME, RTL8723DS_DRIVER_MODULE_PATH, UNKKOWN_DRIVER_MODULE_ARG}, {"RTL8812AU", RTL8812AU_DRIVER_MODULE_NAME, RTL8812AU_DRIVER_MODULE_PATH, UNKKOWN_DRIVER_MODULE_ARG}, {"RTL8189FS", RTL8189FS_DRIVER_MODULE_NAME, RTL8189FS_DRIVER_MODULE_PATH, UNKKOWN_DRIVER_MODULE_ARG}, {"RTL8822BE", RTL8822BE_DRIVER_MODULE_NAME, RTL8822BE_DRIVER_MODULE_PATH, UNKKOWN_DRIVER_MODULE_ARG}, {"RTL8821CS", RTL8821CS_DRIVER_MODULE_NAME, RTL8821CS_DRIVER_MODULE_PATH, UNKKOWN_DRIVER_MODULE_ARG}, {"RTL8822CU", RTL8822CU_DRIVER_MODULE_NAME, RTL8822CU_DRIVER_MODULE_PATH, UNKKOWN_DRIVER_MODULE_ARG}, {"RTL8822CS", RTL8822CS_DRIVER_MODULE_NAME, RTL8822CS_DRIVER_MODULE_PATH, UNKKOWN_DRIVER_MODULE_ARG}, {"SSV6051", SSV6051_DRIVER_MODULE_NAME, SSV6051_DRIVER_MODULE_PATH, SSV6051_DRIVER_MODULE_ARG}, {"ESP8089", ESP8089_DRIVER_MODULE_NAME, ESP8089_DRIVER_MODULE_PATH, UNKKOWN_DRIVER_MODULE_ARG}, {"AP6335", BCM_DRIVER_MODULE_NAME, BCM_DRIVER_MODULE_PATH, UNKKOWN_DRIVER_MODULE_ARG}, {"AP6330", BCM_DRIVER_MODULE_NAME, BCM_DRIVER_MODULE_PATH, UNKKOWN_DRIVER_MODULE_ARG}, {"AP6354", BCM_DRIVER_MODULE_NAME, BCM_DRIVER_MODULE_PATH, UNKKOWN_DRIVER_MODULE_ARG}, {"AP6356S", BCM_DRIVER_MODULE_NAME, BCM_DRIVER_MODULE_PATH, UNKKOWN_DRIVER_MODULE_ARG}, {"AP6255", BCM_DRIVER_MODULE_NAME, BCM_DRIVER_MODULE_PATH, UNKKOWN_DRIVER_MODULE_ARG}, {"APXXX", BCM_DRIVER_MODULE_NAME, BCM_DRIVER_MODULE_PATH, UNKKOWN_DRIVER_MODULE_ARG}, {"MVL88W8977", MVL_DRIVER_MODULE_NAME, MVL_DRIVER_MODULE_PATH, MVL88W8977_DRIVER_MODULE_ARG}, {"RK912", RK912_DRIVER_MODULE_NAME, RK912_DRIVER_MODULE_PATH, UNKKOWN_DRIVER_MODULE_ARG}, {"SPRDWL", SPRDWL_DRIVER_MODULE_NAME, SPRDWL_DRIVER_MODULE_PATH, UNKKOWN_DRIVER_MODULE_ARG}, {"UNKNOW", DRIVER_MODULE_NAME_UNKNOW, DRIVER_MODULE_PATH_UNKNOW, UNKKOWN_DRIVER_MODULE_ARG} }; static char wifi_type[64] = {0}; extern "C" int check_wifi_chip_type_string(char *type); int get_kernel_version(void) { int fd, version = 0; char buf[64]; fd = open("/proc/version", O_RDONLY); if (fd < 0) { PLOG(ERROR) << "Can't open '/proc/version', errno = " << errno; goto fderror; } memset(buf, 0, 64); if( 0 == read(fd, buf, 64) ){ PLOG(ERROR) << "read '/proc/version' failed"; close(fd); goto fderror; } close(fd); if (strstr(buf, "Linux version 3.10") != NULL) { version = KERNEL_VERSION_3_10; PLOG(ERROR) << "Kernel version is 3.10."; } else if (strstr(buf, "Linux version 4.4") != NULL) { version = KERNEL_VERSION_4_4; PLOG(ERROR) << "Kernel version is 4.4."; } else if (strstr(buf, "Linux version 4.19") != NULL) { version = KERNEL_VERSION_4_19; PLOG(ERROR) << "Kernel version is 4.19."; }else { version = KERNEL_VERSION_3_0_36; PLOG(ERROR) << "Kernel version is 3.0.36."; } return version; fderror: return -1; } /* 0 - not ready; 1 - ready. */ int check_wireless_ready(void) { char line[1024]; FILE *fp = NULL; if (get_kernel_version() == KERNEL_VERSION_4_4 || get_kernel_version() == KERNEL_VERSION_4_19) { fp = fopen("/proc/net/dev", "r"); if (fp == NULL) { PLOG(ERROR) << "Couldn't open /proc/net/dev"; return 0; } } else { fp = fopen("/proc/net/wireless", "r"); if (fp == NULL) { PLOG(ERROR) << "Couldn't open /proc/net/wireless"; return 0; } } while(fgets(line, 1024, fp)) { if ((strstr(line, "wlan0:") != NULL) || (strstr(line, "p2p0:") != NULL)) { PLOG(ERROR) << "Wifi driver is ready for now..."; property_set(DRIVER_PROP_NAME, "ok"); fclose(fp); return 1; } } fclose(fp); PLOG(ERROR) << "Wifi driver is not ready."; return 0; } static int insmod(const char *filename, const char *args) { int ret; int fd; fd = TEMP_FAILURE_RETRY(open(filename, O_RDONLY | O_CLOEXEC | O_NOFOLLOW)); if (fd < 0) { PLOG(ERROR) << "Failed to open " << filename; return -1; } ret = syscall(__NR_finit_module, fd, args, 0); close(fd); if (ret < 0) { PLOG(ERROR) << "finit_module return: " << ret; } return ret; } static int rmmod(const char *modname) { int ret = -1; int maxtry = 10; while (maxtry-- > 0) { ret = delete_module(modname, O_NONBLOCK | O_EXCL); if (ret < 0 && errno == EAGAIN) usleep(500000); else break; } if (ret != 0) PLOG(DEBUG) << "Unable to unload driver module '" << modname << "'"; return ret; } #ifdef WIFI_DRIVER_STATE_CTRL_PARAM int wifi_change_driver_state(const char *state) { int len; int fd; int ret = 0; if (!state) return -1; fd = TEMP_FAILURE_RETRY(open(WIFI_DRIVER_STATE_CTRL_PARAM, O_WRONLY)); if (fd < 0) { PLOG(ERROR) << "Failed to open driver state control param"; return -1; } len = strlen(state) + 1; if (TEMP_FAILURE_RETRY(write(fd, state, len)) != len) { PLOG(ERROR) << "Failed to write driver state control param"; ret = -1; } close(fd); return ret; } #endif int is_wifi_driver_loaded() { #ifdef WIFI_DRIVER_MODULE_PATH FILE *proc; char line[sizeof(DRIVER_MODULE_TAG) + 10]; #endif #if 0 if (!property_get(DRIVER_PROP_NAME, driver_status, NULL) || strcmp(driver_status, "ok") != 0) { return 0; /* driver not loaded */ } #endif if (check_wireless_ready() == 0) { /* * If the property says the driver is loaded, check to * make sure that the property setting isn't just left * over from a previous manual shutdown or a runtime * crash. */ if ((proc = fopen(MODULE_FILE, "r")) == NULL) { PLOG(WARNING) << "Could not open " << MODULE_FILE; property_set(DRIVER_PROP_NAME, "unloaded"); return 0; } while ((fgets(line, sizeof(line), proc)) != NULL) { if (strncmp(line, DRIVER_MODULE_TAG, strlen(DRIVER_MODULE_TAG)) == 0) { fclose(proc); return 1; } } fclose(proc); property_set(DRIVER_PROP_NAME, "unloaded"); return 0; } else { return 1; } } int wifi_load_driver() { #ifdef WIFI_DRIVER_MODULE_PATH char* wifi_ko_path = NULL ; char* wifi_ko_arg =NULL; int i = 0; int count = 100; if (is_wifi_driver_loaded()) { return 0; } if (wifi_type[0] == 0) { check_wifi_chip_type_string(wifi_type); } for (i=0; i< (int)(sizeof(module_list) / sizeof(module_list[0])); i++) { if (!strcmp(wifi_type , module_list[i].wifi_name)) { wifi_ko_path = module_list[i].wifi_module_path; wifi_ko_arg = module_list[i].wifi_module_arg; PLOG(ERROR) << "matched ko file path " << wifi_ko_path; break; } } if (wifi_ko_path == NULL) { PLOG(ERROR) << "falied to find wifi driver for type=" << wifi_type; return -1; } if(strstr(wifi_type,"AIC8800")){ insmod(AIC_BSP_DRIVER_MODULE_PATH,""); insmod(AIC8800_DRIVER_MODULE_PATH,""); } if (strstr(wifi_ko_path, MVL_DRIVER_MODULE_NAME)) { insmod(MLAN_DRIVER_MODULE_PATH, ""); } if (insmod(wifi_ko_path, wifi_ko_arg) < 0) { return -1; } #endif #ifdef WIFI_DRIVER_STATE_CTRL_PARAM if (is_wifi_driver_loaded()) { return 0; } if (wifi_change_driver_state(WIFI_DRIVER_STATE_ON) < 0) return -1; #endif while (count-- > 0) { if (is_wifi_driver_loaded()) { property_set(DRIVER_PROP_NAME, "ok"); return 0; } usleep(200000); } property_set(DRIVER_PROP_NAME, "timeout"); return -1; } int wifi_unload_driver() { PLOG(ERROR) << "WZF failed rmmod aic8800_bsp.."; rmmod("/vendor/lib/modules/aic8800_bsp.ko"); usleep(500000); #if 1 if (!is_wifi_driver_loaded()) { property_set(DRIVER_PROP_NAME, "unloaded"); return 0; } usleep(200000); /* allow to finish interface down */ #ifdef WIFI_DRIVER_MODULE_PATH char* wifi_ko_name = NULL ; int i = 0; if (wifi_type[0] == 0) { check_wifi_chip_type_string(wifi_type); } for (i=0; i< (int)(sizeof(module_list) / sizeof(module_list[0])); i++) { if (!strcmp(wifi_type , module_list[i].wifi_name)) { wifi_ko_name = module_list[i].wifi_driver_name; PLOG(ERROR) << "matched ko file name " << wifi_ko_name; break; } } if (rmmod(wifi_ko_name) == 0) { int count = 20; /* wait at most 10 seconds for completion */ while (count-- > 0) { if (!is_wifi_driver_loaded()) break; usleep(500000); } usleep(500000); /* allow card removal */ if (count) { return 0; } return -1; } else return -1; #else #ifdef WIFI_DRIVER_STATE_CTRL_PARAM if (is_wifi_driver_loaded()) { if (wifi_change_driver_state(WIFI_DRIVER_STATE_OFF) < 0) return -1; } #endif property_set(DRIVER_PROP_NAME, "unloaded"); return 0; #endif #endif property_set(DRIVER_PROP_NAME, "unloaded"); return 0; } const char *wifi_get_fw_path(int fw_type) { switch (fw_type) { case WIFI_GET_FW_PATH_STA: return WIFI_DRIVER_FW_PATH_STA; case WIFI_GET_FW_PATH_AP: return WIFI_DRIVER_FW_PATH_AP; case WIFI_GET_FW_PATH_P2P: return WIFI_DRIVER_FW_PATH_P2P; } return NULL; } int wifi_change_fw_path(const char *fwpath) { int len; int fd; int ret = 0; if (wifi_type[0] == 0) check_wifi_chip_type_string(wifi_type); if (0 != strncmp(wifi_type, "AP", 2)) return ret; if (!fwpath) return ret; fd = TEMP_FAILURE_RETRY(open(WIFI_DRIVER_FW_PATH_PARAM, O_WRONLY)); if (fd < 0) { PLOG(ERROR) << "Failed to open wlan fw path param"; return -1; } len = strlen(fwpath) + 1; if (TEMP_FAILURE_RETRY(write(fd, fwpath, len)) != len) { PLOG(ERROR) << "Failed to write wlan fw path param"; ret = -1; } close(fd); return ret; } 里面如何打印wifi_ko_name,
09-19
【四轴飞行器】非线性三自由度四轴飞行器模拟器研究(Matlab代码实现)内容概要:本文围绕非线性三自由度四轴飞行器模拟器的研究展开,重点介绍基于Matlab代码实现的四轴飞行器动力学建模与仿真方法。研究构建了考虑非线性特性的飞行器数学模型,涵盖姿态动力学与运动学方程,实现了三自由度(滚转、俯仰、偏航)的精确模拟。文中详细阐述了系统建模过程、控制算法设计思路及仿真结果分析,帮助读者深入理解四轴飞行器的飞行动力学特性与控制机制;同时,该模拟器可用于算法验证、控制器设计与教学实验。; 适合人群:具备一定自动控制理论基础和Matlab编程能力的高校学生、科研人员及无人机相关领域的工程技术人员,尤其适合从事飞行器建模、控制算法开发的研究生和初级研究人员。; 使用场景及目标:①用于四轴飞行器非线性动力学特性的学习与仿真验证;②作为控制器(如PID、LQR、MPC等)设计与测试的仿真平台;③支持无人机控制系统教学与科研项目开发,提升对姿态控制与系统仿真的理解。; 阅读建议:建议读者结合Matlab代码逐模块分析,重点关注动力学方程的推导与实现方式,动手运行并调试仿真程序,以加深对飞行器姿态控制过程的理解。同时可扩展为六自由度模型或加入外部干扰以增强仿真真实性。
基于分布式模型预测控制DMPC的多智能体点对点过渡轨迹生成研究(Matlab代码实现)内容概要:本文围绕“基于分布式模型预测控制(DMPC)的多智能体点对点过渡轨迹生成研究”展开,重点介绍如何利用DMPC方法实现多智能体系统在复杂环境下的协同轨迹规划与控制。文中结合Matlab代码实现,详细阐述了DMPC的基本原理、数学建模过程以及在多智能体系统中的具体应用,涵盖点对点转移、避障处理、状态约束与通信拓扑等关键技术环节。研究强调算法的分布式特性,提升系统的可扩展性与鲁棒性,适用于多无人机、无人车编队等场景。同时,文档列举了大量相关科研方向与代码资源,展示了DMPC在路径规划、协同控制、电力系统、信号处理等多领域的广泛应用。; 适合人群:具备一定自动化、控制理论或机器人学基础的研究生、科研人员及从事智能系统开发的工程技术人员;熟悉Matlab/Simulink仿真环境,对多智能体协同控制、优化算法有一定兴趣或研究需求的人员。; 使用场景及目标:①用于多智能体系统的轨迹生成与协同控制研究,如无人机集群、无人驾驶车队等;②作为DMPC算法学习与仿真实践的参考资料,帮助理解分布式优化与模型预测控制的结合机制;③支撑科研论文复现、毕业设计或项目开发中的算法验证与性能对比。; 阅读建议:建议读者结合提供的Matlab代码进行实践操作,重点关注DMPC的优化建模、约束处理与信息交互机制;按文档结构逐步学习,同时参考文中提及的路径规划、协同控制等相关案例,加深对分布式控制系统的整体理解。
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