error: At end of source: #67: expected a "}"

最新推荐文章于 2025-07-09 11:47:09 发布

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本文讨论了在使用Keil MDK进行C/C++混合编程时遇到的PWM输出错误，并提供了修复方法。通过在代码末尾添加额外的'{'和'}

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Keil MDK编程出现错误：

HardWareDriver\PWM_Output\PWM_Output.c(307): error: At end of source: #67: expected a "}"

解决方法参考了，博客 realview MDK C/C++ 混合编程问题

http://blog.youkuaiyun.com/jianxiang54321/article/details/5025752

试探性的，在代码结尾多加了一个“}” ，结果编译通过，不再提示error，可是“{” “}”的个数并不是一边多，我还没有搞懂是怎么回事

void PWM_Write_Motors(void)
{
#if (Remote_Config_Enable == 1)	 
	  //条件编译，Remote_Config_Enable的定义见fly_config.h,
	  //是否使用遥控器来做参数配置  1 使用， 0 为不使用/
	  //注意，当使用这个功能后，起飞前需要解锁油门才能进行飞行。
//  if(Quadrotor_Mode == Quad_ESC_Cal)return;	//正在校准电调，别添乱了	
	  if(THROTTLE_LOCKed)
	  {	  //油门锁定中，输出PWM不让电机启动，以免伤人。
	    LED_Blink_Routine();  //LED长亮，指示电机锁定状态
	  	PWM_Output_Set_default();
		return;
	  }
#endif

//  PWM_PID_Smooth();  //平滑输出 
//
//  //保护措施，当油门低时，不启动电机。	
//  if(THROTTLE < (int16_t)(MINTHROTTLE+(MAXTHROTTLE-MINTHROTTLE)/20))
	{
//  PID_ROLL = 0;	//油门量小于 5%  不启动电机
//  PID_PITCH = 0; //所有的控制量清零，以防电机启动
//  PID_YAW = 0;
//  }

switch(Fly_Mode)
  {
	  case QUADP :	//十字型的四轴飞行器
	    motor[0] = Math_Constrain(PIDMIX( 0,+1,-1),Min_PWM_Out,Max_PWM_Out); //REAR	 后尾电机
	    motor[1] = Math_Constrain(PIDMIX(-1, 0,+1),Min_PWM_Out,Max_PWM_Out); //RIGHT 右边电机
	    motor[2] = Math_Constrain(PIDMIX(+1, 0,+1),Min_PWM_Out,Max_PWM_Out); //LEFT	 左边电机
	    motor[3] = Math_Constrain(PIDMIX( 0,-1,-1),Min_PWM_Out,Max_PWM_Out); //FRONT 前面电机
		Set_PWMOuput_CH1(motor[0]);
		Set_PWMOuput_CH2(motor[1]);
		Set_PWMOuput_CH3(motor[2]);
		Set_PWMOuput_CH4(motor[3]);
	    break;
	  case QUADX :	//X 型的四轴飞行器
	    motor[0] = Math_Constrain(PIDMIX(-1,+1,-1),Min_PWM_Out,Max_PWM_Out); //REAR_R  后右电机
	    motor[1] = Math_Constrain(PIDMIX(-1,-1,+1),Min_PWM_Out,Max_PWM_Out); //FRONT_R 前右电机
	    motor[2] = Math_Constrain(PIDMIX(+1,+1,+1),Min_PWM_Out,Max_PWM_Out); //REAR_L  后左电机
	    motor[3] = Math_Constrain(PIDMIX(+1,-1,-1),Min_PWM_Out,Max_PWM_Out); //FRONT_L 前左电机
		Set_PWMOuput_CH1(motor[0]);
		Set_PWMOuput_CH2(motor[1]);
		Set_PWMOuput_CH3(motor[2]);
		Set_PWMOuput_CH4(motor[3]);
	    break;
	  case Y4  :
	    motor[0] = Math_Constrain(PIDMIX(+0,+1,-1),Min_PWM_Out,Max_PWM_Out);   //REAR_1 CW
	    motor[1] = Math_Constrain(PIDMIX(-1,-1, 0),Min_PWM_Out,Max_PWM_Out); //FRONT_R CCW
	    motor[2] = Math_Constrain(PIDMIX(+0,+1,+1),Min_PWM_Out,Max_PWM_Out);   //REAR_2 CCW
	    motor[3] = Math_Constrain(PIDMIX(+1,-1, 0),Min_PWM_Out,Max_PWM_Out); //FRONT_L CW
		Set_PWMOuput_CH1(motor[0]);
		Set_PWMOuput_CH2(motor[1]);
		Set_PWMOuput_CH3(motor[2]);
		Set_PWMOuput_CH4(motor[3]);
	    break;
	  case Y6  :
	    motor[0] = Math_Constrain(PIDMIX(+0,+4/3,+1),Min_PWM_Out,Max_PWM_Out); //REAR
	    motor[1] = Math_Constrain(PIDMIX(-1,-2/3,-1),Min_PWM_Out,Max_PWM_Out); //RIGHT
	    motor[2] = Math_Constrain(PIDMIX(+1,-2/3,-1),Min_PWM_Out,Max_PWM_Out); //LEFT
	    motor[3] = Math_Constrain(PIDMIX(+0,+4/3,-1),Min_PWM_Out,Max_PWM_Out); //UNDER_REAR
	    motor[4] = Math_Constrain(PIDMIX(-1,-2/3,+1),Min_PWM_Out,Max_PWM_Out); //UNDER_RIGHT
	    motor[5] = Math_Constrain(PIDMIX(+1,-2/3,+1),Min_PWM_Out,Max_PWM_Out); //UNDER_LEFT  
		Set_PWMOuput_CH1(motor[0]);
		Set_PWMOuput_CH2(motor[1]);
		Set_PWMOuput_CH3(motor[2]);
		Set_PWMOuput_CH4(motor[3]);
		Set_PWMOuput_CH5(motor[4]);
		Set_PWMOuput_CH6(motor[5]); 
	    break;
	  case HEX6	:
	    motor[0] = Math_Constrain(PIDMIX(-7/8,+1/2,+1),Min_PWM_Out,Max_PWM_Out); //REAR_R
	    motor[1] = Math_Constrain(PIDMIX(-7/8,-1/2,-1),Min_PWM_Out,Max_PWM_Out); //FRONT_R
	    motor[2] = Math_Constrain(PIDMIX(+7/8,+1/2,+1),Min_PWM_Out,Max_PWM_Out); //REAR_L
	    motor[3] = Math_Constrain(PIDMIX(+7/8,-1/2,-1),Min_PWM_Out,Max_PWM_Out); //FRONT_L
	    motor[4] = Math_Constrain(PIDMIX(+0  ,-1  ,+1),Min_PWM_Out,Max_PWM_Out); //FRONT
	    motor[5] = Math_Constrain(PIDMIX(+0  ,+1  ,-1),Min_PWM_Out,Max_PWM_Out); //REAR
		Set_PWMOuput_CH1(motor[0]);
		Set_PWMOuput_CH2(motor[1]);
		Set_PWMOuput_CH3(motor[2]);
		Set_PWMOuput_CH4(motor[3]);
		Set_PWMOuput_CH5(motor[4]);
		Set_PWMOuput_CH6(motor[5]); 
	    break;
	  case HEX6X :
	    motor[0] = Math_Constrain(PIDMIX(-1/2,+7/8,+1),Min_PWM_Out,Max_PWM_Out); //REAR_R
	    motor[1] = Math_Constrain(PIDMIX(-1/2,-7/8,+1),Min_PWM_Out,Max_PWM_Out); //FRONT_R
	    motor[2] = Math_Constrain(PIDMIX(+1/2,+7/8,-1),Min_PWM_Out,Max_PWM_Out); //REAR_L
	    motor[3] = Math_Constrain(PIDMIX(+1/2,-7/8,-1),Min_PWM_Out,Max_PWM_Out); //FRONT_L
	    motor[4] = Math_Constrain(PIDMIX(-1  ,+0  ,-1),Min_PWM_Out,Max_PWM_Out); //RIGHT
	    motor[5] = Math_Constrain(PIDMIX(+1  ,+0  ,+1),Min_PWM_Out,Max_PWM_Out); //LEFT
		Set_PWMOuput_CH1(motor[0]);
		Set_PWMOuput_CH2(motor[1]);
		Set_PWMOuput_CH3(motor[2]);
		Set_PWMOuput_CH4(motor[3]);
		Set_PWMOuput_CH5(motor[4]);
		Set_PWMOuput_CH6(motor[5]); 
	  	break;
  }
}     //这里多加的“}”，编译后解决问题
}