2 Problemer med min kode plz hjælp
Kan i se hvad jeg laver forkert her?! jeg kan nemlig ikke!.Kode.-...-...--..-.-.
#include "asuro.h"
int main(void){
unsigned int data[2];
Init();
StatusLED(GREEN);
FrontLED(ON);
MortorDir(FWD,FWD);
while(1){
LineData(data[1]);
if(data[0]>data[1]){
MortorSpeed(200,150);
}else{
MortorSpeed(150,200);
}
}
return 0;
}
BUGS************************************************
C:\Documents and Settings\Admin\Desktop\digi>make all
set -e; avr-gcc -MM -mmcu=atmega8 -I. -g -Os -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -Wall -Wstrict-prototypes -Wa,-ahlms=test.lst test.c \
| sed 's,\(.*\)\.o[ :]*,\1.o \1.d : ,g' > test.d; \
[ -s test.d ] || rm -f test.d
-------- begin --------
avr-gcc --version
avr-gcc (GCC) 3.3.1
Copyright (C) 2003 Free Software Foundation, Inc.
This is free software; see the source for copying conditions. There is NO
warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
avr-gcc -c -mmcu=atmega8 -I. -g -Os -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -Wall -Wstrict-prototypes -Wa,-ahlms=test.lst test.c -o test.o
test.c: In function `main':
test.c:7: warning: implicit declaration of function `MortorDir'
test.c:10: warning: passing arg 1 of `LineData' makes pointer from integer without a cast
test.c:12: warning: implicit declaration of function `MortorSpeed'
avr-gcc -mmcu=atmega8 -I. -g -Os -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -Wall -Wstrict-prototypes -Wa,-ahlms=test.o test.o asuro.o --output test.elf -Wl,-Map=test.map,--cref -lm
test.o(.text+0x1e): In function `main':
C:\Documents and Settings\Admin\Desktop\digi/test.c:7: undefined reference to `MortorDir'
test.o(.text+0x3c):C:\Documents and Settings\Admin\Desktop\digi/test.c:14: undefined reference to `MortorSpeed'
make: *** [test.elf] Error 1
> Process Exit Code: 2
asuro.h**********************************************************
/*******************************************************************************
*
* File Name: asuro.h
* Project : ASURO
*
*
* Ver. Date Author Comments
* ------- ---------- -------------- ------------------------------
* 1.00 14.08.2003 Jan Grewe build
* 2.00 14.10.2003 Jan Grewe LEFT_VEL, RIGHT_VEL -> MotorSpeed(unsigned char left_speed, unsigned char right_speed);
* LeftRwd(),LeftFwd(),RightRwd(),RigthFwd() -> MotorDir(unsigned char left_dir, unsigned char right_dir);
* GREEN_ON,GREEN_OFF,RED_ON,RED_OFF -> StatusLED(unsigned char color);
* LED_RED_ON, LED_RED_OFF -> FrontLED(unsigned char color);
* Blink(unsigned char left, unsigned char right) -> BackLED(unsigned char left, unsigned char right);
* Alles in Funktionen gefasst => leichter verständlich ?!?!
* 2.10 17.10.2003 Jan Grewe new Timer funktion void Sleep(unsigned char time36kHz)
*
*
* Copyright (c) 2003 DLR Robotics & Mechatronics
*****************************************************************************/
/***************************************************************************
* *
* This program is free software; you can redistribute it and/or modify *
* it under the terms of the GNU General Public License as published by *
* the Free Software Foundation; either version 2 of the License, or *
* any later version. *
***************************************************************************/
#ifndef ASURO_H
#define ASURO_H
#include <avr/io.h>
#include <avr/interrupt.h>
#include <avr/signal.h>
#define FALSE 0
#define TRUE 1
#define OFF 0
#define ON 1
#define GREEN 1
#define RED 2
#define YELLOW 3
/* Init function Processor will be initalized to work correctly */
void Init(void);
/* Set Status LED (OFF,GREEN,RED,YELLOW)*/
/* example code set Status LED GREEN */
/* StatusLED(GREEN); */
inline void StatusLED(unsigned char color);
/* function for front LED */
/* example code front LED On */
/* FrontLED(ON); */
inline void FrontLED(unsigned char status);
/* function for Back LEDs */
/* example code right LED On left LED Off */
/* BackLED(OFF,ON); */
void BackLED(unsigned char left, unsigned char right);
/* Set motor direction (FWD,RWD,BREAK,FREE)*/
/* example code set Direction for right motor to rewind */
/* MotorDir(BREAK,RWD); */
inline void MotorDir(unsigned char left_dir, unsigned char right_dir);
/* range for motor speed 0..255 */
/* example code set speed for left motor to 150 */
/* MotorSpeed(150,0); */
inline void MotorSpeed(unsigned char left_speed, unsigned char right_speed);
/* function for serial communication */
void SerWrite(unsigned char *data,unsigned char length);
/* timeout = 0 => bloking mode !!! */
void SerRead(unsigned char *data, unsigned char length, unsigned int timeout);
/* function to read out line follow phototransistors (left,rigth) */
void LineData(unsigned int *data);
/* function to read out odometrie phototransistors (left,rigth) */
void OdometrieData(unsigned int *data);
/* function to read out switches */
unsigned char PollSwitch (void);
/* for working with Interrupt */
void StartSwitch(void);
void StopSwitch(void);
/* Sleep function using 36kHz counter */
void Sleep(unsigned char timer36kHz);
/* ----------- END ------------ */
/* --------------- INTERNAL ------------- */
#define GREEN_LED_ON PORTB |= GREEN_LED
#define GREEN_LED_OFF PORTB &= ~GREEN_LED
#define RED_LED_ON PORTD |= RED_LED
#define RED_LED_OFF PORTD &= ~RED_LED
#define FWD (1 << PB5) /* (1 << PD5) */
#define RWD (1 << PB4) /* (1 << PD4) */
#define BREAK 0x00
#define FREE (1 << PB4) | (1 << PB5) /* (1 << PD4) | (1 << PD5)*/
#define IRTX (1 << PB3)
#define GREEN_LED (1 << PB0)
#define RED_LED (1 << PD2)
#define PWM (1 << PB1) | (1 << PB2)
#define RIGHT_DIR (1 << PB4) | (1 << PB5)
#define LEFT_DIR (1 << PD4) | (1 << PD5)
#define SWITCHES (1 << PD3)
#define SWITCH_ON PORTD |= SWITCHES
#define SWITCH_OFF PORTD &= ~SWITCHES
#define BATTERIE (1 << MUX0) | (1 << MUX2) //ADC5
#define SWITCH (1 << MUX2) //ADC4
#define IR_LEFT (1 << MUX0) | (1 << MUX1) //ADC3
#define IR_RIGHT (1 << MUX1) //ADC2
#define FRONT_LED (1 << PD6)
#define ODOMETRIE_LED (1 << PD7)
#define ODOMETRIE_LED_ON PORTD |= ODOMETRIE_LED
#define ODOMETRIE_LED_OFF PORTD &= ~ODOMETRIE_LED
#define WHEEL_LEFT (1 << MUX0) //ADC1
#define WHEEL_RIGHT 0 //ADC0
#endif /* ASURO_H */
