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?? tips.txt

?? 卡爾曼濾波(非矩陣)參考程序
?? TXT
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//------------------------------------------------------------------------
//  Tips.txt
//------------------------------------------------------------------------

//------------------------------------------------------------------------
//  Changing the Derivative
//------------------------------------------------------------------------
If you would like to change the existing derivative with a different one,
you have to consider following points:
- You will need to adapt the CodeWarrior project settings: In the 'Assembler for
  HC12' and 'Compiler for HC12' panels make sure that the new CPU will be used
  in the 'Command Line Arguments':
  - HC12:   -CpuHC12
  - HCS12:  -CpuHCS12
  - HCS12X: -CpuHCS12X
- The derivative header and source files are located in the following directories:
  - {CodeWarrior}lib\hc12c\include (derivative header files)
  - {CodeWarrior}lib\hc12c\src (derivative source files)
  You will need to drag and drop from the directories above the new derivative
  header and source files to the 'Libraries' group.
  HINT: To open a 'Windows Explorer' where the file is located:
        Use the context menu/right mouse click on
        the derivative header/source file in the 'Libraries' project folder
        and select 'Open in Windows Explorer'.
- You can now remove the derivative header and source files that are referenced
  by the wizard from the project. Remove the derivative header and source files
  in the 'Libraries' group: context menu/right mouse click on the derivative header
  and source files in the 'Libraries' group and select 'Remove'.
- You will need to adapt the main source file. This file can be found in the
  'Sources' group. Open this file and change the name of the included
  derivative header file to the new one. In case of a C/C++ project you will
  also need to adapt the pragma 'LINK_INFO DERIVATIVE' to the new derivative.
  This pragma tells the simulator which derivative to simulate. However you can
  also remove this pragma and setup the new derivative in the HI-WAVE debugger
  itself (see next point).
- You will need to adapt the PRM file as well. PRM files are located in the
  following directory:
  - {CodeWarrior}lib\hc12c\prm
  You need to open the new PRM file and copy & past the content to your currently
  used PRM file. In case you don not have a banked memory model, you will need to
  adapt the content as well. You may have a look at the existing prm file.
- After successful compilation and linkage you can start the HI-WAVE debugger.
  You will need to setup the debugger for the new derivative.
  - For the Full Chip Simulation\Simulator Connection:
    Use the 'Set Derivative...' dialog by using the menu option
    'Simulator' > 'Set Derivative...'. In the opened dialog box you can
    select the new derivative. The names used there might also be used
    with the pragma 'LINK_INFO DERIVATIVE'.
  - For the P&E Multilink/Cyclone Pro Connection:
    Use the 'Set Derivative...' dialog by using the menu option
    'MultilinkCyclonePro' > 'Set Derivative...'. In the opened dialog box you can
    select the new derivative. 
  - For the SofTec HCS12 Connection:
    Use the 'MCU Configuration' dialog by using the menu option
    'inDART-HCS12' > 'MCU Configuration'. In the opened dialog box you can
    select the new derivative. 
  - For the HCS12 Serial Monitor target:
    The derivative is determined automatically from the connected hardware.
    However, the debugger might still display a list of parts where a thinner 
    selection between silicons from the same family should be done.
- Now you should have a project for the new derivative.

//------------------------------------------------------------------------
//  Enabling Processor Expert
//------------------------------------------------------------------------
If you decided not to enable Processor Expert during the project creation,
you can do this later as well. However, you have to consider following points:
- Processor Expert supports C or C++ projects, it does not support absolute
  assembly or relocatable assembly projects.
- Processor Expert is not supported for all derivatives.
- Enable Processor Expert using the menu
  Processor Expert > Enable Processor Expert for <projectName>
- A dialog will ask you if you want to enable Processor Expert for the project:
  click on 'Yes'.
- Then you need to select the correct CPU bean for your project. Do so with
  the bean selector (menu Processor Expert > View > Bean Selector) and
  double click on the desired CPU bean in the CPU tree. This will add the
  CPU bean to your project.
- As Processor Expert is generating it's own 'main' function/source file, you need to
  remove the one created by the wizard from the project. Remove the main file
  in the 'Sources': context menu/right mouse click on the main file in the 'Sources'
  project folder and select 'Remove'.
- Same applies to the derivative header file. Processor Expert maintains it's own version,
  so you need to remove them from the CodeWarrior project: You find the .c and .h file
  in the 'Libs' project folder: context menu/right mouse click and select 'Delete' to
  have the .h and the .c file removed.
- Processor Expert maintains as well its own linker .prm file. You need to remove the
  one added to the project by the wizard in the 'Prm' project folder by context menu/right
  mouse click and selecting 'Remove'.
- Now you can build/make your project as usually (menu Project > Make).

//------------------------------------------------------------------------
//  Changing the Memory Model
//------------------------------------------------------------------------
If you would like to change the existing memory model with a different one,
you have to consider following points:
- The memory model only controls the defaults. It is possible to write any kind
  of application in any memory model, choosing the wrong one just causes that 
  more code adaptations are necessary.
- The large memory model generates considerably more and slower code than the banked
  or small memory model. Check first if you could not code the functionality in the 
  other models.
  The difference between the banked and the small memory model is not so significant.
- You will need to adapt the CodeWarrior project settings: In the 'Assembler for
  HC12' and 'Compiler for HC12' panels make sure that the new memory model will
  be used in the 'Command Line Arguments':
  - Small memory model:  -ms
  - Banked memory model: -mb
  - Large memory model:  -ml
- You need to change the standard libraries. The library files are located in
  the following directory:
  - {CodeWarrior}lib\hc12c\lib (HC12)
  - {CodeWarrior}lib\xgatec\lib (optional for a XGATE project)
- You will need to drag and drop from the directories above the new library files
  to the 'Libraries' project folder. For the naming schema please have a look to
  the following readme.txt:
  - {CodeWarrior}lib\hc12c\readme.txt (HC12)
  - {CodeWarrior}lib\xgatec\readme.txt (optional for a XGATE project)
- You can now remove the old library files that are referenced by the wizard from
  the project. Remove the old library files in the 'Libraries': context menu/right
  mouse click on the library files in the 'Libraries' project folder and select
  'Remove'.
- The prm file has to be adapted to the new memory model.
  Every memory model has its constraints how the DEFAULT_ROM, DEFAULT_RAM, NON_PAGED 
  and the other default sections have to be allocated.
  - DEFAULT_ROM: must be in non paged area in the small memory model. 
    Can be on any PPAGE area in the banked and the large memory model.
  - DEFAULT_RAM: must be in non paged RAM in the small and banked memory model.
  - STARTUP, STRINGS, ROM_VAR, COPY. In the small and banked memory models, 
    they most be in the non banked flash area. COPY must be the last in the list.
  - check all the remaining sections how they are used. If in doubt, 
    allocate them non banked.
- Now you should have a project for the new memory model.

//------------------------------------------------------------------------
//  Appending an additional connection
//------------------------------------------------------------------------
If you missed to add a specific connection during the project creation,
you can do this later as well. However, you have to consider following points:
- Within your project choose the 'Target' tab and use the menu
  'Project' > 'Create Target...'. In this dialog enter the new
  connection name and choose 'Clone existing target'. You may choose any existing
  target.
- Select the newly created target. We need now to prepare the
  debugger. Use the menu 'Project' > 'Set Default Target' to select the created target.
- In case you need a different memory mapping for that specific connection
  (e.g. 'Serial Monitor'), 
  you will need to add the modified prm file to the project. Make
  sure that the new .prm file is selected in the target. Make sure the new prm file
  has the bullet set in the target column in the project window. Also make sure that
  the existing prm file has no bullet.
- The debugger configuration files (.ini) are located in the '{Project}' directory.
  You will need to copy an existing '.ini' file to the same path. For the file
  name use the connection name. You can now drag and drop the ini file to
  'Debugger Project File'.
- You will need to adapt the 'Arguments' option in the 'CodeWarrior' project setting
  panel 'Build Extras'. Replace the '.ini' file name with the new one.
  Optional: In the same option line replace the '-instance=x' with '-instance=y',
  where y is the new connection. The -instance options makes sure that only one debugger
  instance is open for a certain connection.
- We need now to setup the debugger. You can do this by starting the debugger. 
  In the debugger dialog 'Component' > 'Set Connection...' you can choose the connection.
  - For the Full Chip Simualtion\Simulator Connection:
    Use Processor= HC12 and Connection= Full Chip Simulation
  - For the P&E Multilink/Cyclone Pro Connection:
    Use Processor= HC12 and Connection= P&E Multilink/Cyclone Pro
  - For the SofTec HCS12 Connection:
    Use Processor= HC12 and Connection= SofTec HCS12
  - For the HCS12 Serial Monitor Connection:
    Use Processor= HC12 and Connection= HCS12 Serial Monitor
- Optional: In case you need 'Command Files', you can create empty files in the '{Project}cmd'
  directory. In the debugger you can use the 'Command Files...' dialog in the Connection
  menu to adapt the debugger.
- Now you have a new connection in the project.

//------------------------------------------------------------------------
//  Contacting Metrowerks
//------------------------------------------------------------------------
For bug reports, technical questions, and suggestions, please use the
forms installed in the Release_Notes folder and send them to:
cw_support@freescale.com

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