Question

我试图为avr和加班编译C程序我有一个奇怪的编译错误。该程序使用Ateml studio为atmega8微控制器编写

预期＆＃39;;＆＃39;在数字常量之前

这是我的程序

import cv2
import sys
import numpy as np
def Pixel(img, i, j):
    i = i if i >= 0 else 0
    j = j if j >= 0 else 0
    i = i if i < img.shape[0] else img.shape[0] - 1
    j = j if j < img.shape[1] else img.shape[1] - 1
    return img[i, j]
def xDer(img1, img2):
    res = np.zeros_like(img1)
    for i in range(res.shape[0]):
        for j in range(res.shape[1]):
            sm = 0
            sm += Pixel(img1, i, j + 1) - Pixel(img1, i, j)
            sm += Pixel(img1, i + 1, j + 1) - Pixel(img1, i + 1, j)
            sm += Pixel(img2, i, j + 1) - Pixel(img2, i, j)
            sm += Pixel(img2, i + 1, j + 1) - Pixel(img2, i + 1, j)
            sm /= 4.0
            res[i, j] = sm
    return res
def yDer(img1, img2):
    res = np.zeros_like(img1)
    for i in range(res.shape[0]):
        for j in range(res.shape[1]):
            sm = 0
            sm += Pixel(img1, i + 1, j ) - Pixel(img1, i, j )
            sm += Pixel(img1, i + 1, j + 1) - Pixel(img1, i, j + 1)
            sm += Pixel(img2, i + 1, j ) - Pixel(img2, i, j )
            sm += Pixel(img2, i + 1, j + 1) - Pixel(img2, i, j + 1)
            sm /= 4.0
            res[i, j] = sm
    return res
def tDer(img, img2):
    res = np.zeros_like(img)
    for i in range(res.shape[0]):
        for j in range(res.shape[1]):
            sm = 0
            for ii in range(i, i + 2):
                for jj in range(j, j + 2):
                    sm += Pixel(img2, ii, jj) - Pixel(img, ii, jj)
            sm /= 4.0
            res[i, j] = sm
    return res
averageKernel = np.array([[ 0.08333333, 0.16666667, 0.08333333],
                          [ 0.16666667, 0. , 0.16666667],
                          [ 0.08333333, 0.16666667, 0.08333333]],     dtype=np.float32)
def average(img):
    return cv2.filter2D(img.astype(np.float32), -1, averageKernel)
def translateBrute(img, u, v):
    res = np.zeros_like(img)
    u = np.round(u).astype(np.int)
    v = np.round(v).astype(np.int)
    for i in range(img.shape[0]):
        for j in range(img.shape[1]):
            res[i, j] = Pixel(img, i + v[i, j], j + u[i, j])
    return res
def hornShunckFlow(img1, img2, alpha):
    img1 = img1.astype(np.float32)
    img2 = img2.astype(np.float32)
    Idx = xDer(img1, img2)
    Idy = yDer(img1, img2)
    Idt = tDer(img1, img2)
    u = np.zeros_like(img1)
    v = np.zeros_like(img1)
#100 iterations enough for small example
    for iteration in range(100):
        u0 = np.copy(u)
        v0 = np.copy(v)
        uAvg = average(u0)
        vAvg = average(v0)
        u = uAvg - 1.0/(alpha**2 + Idx**2 + Idy**2) * Idx * (Idx * uAvg +   Idy * vAvg + Idt)
        v = vAvg - 1.0/(alpha**2 + Idx**2 + Idy**2) * Idy * (Idx * uAvg + Idy * vAvg + Idt)
    return u, v
if __name__ == '__main__':
 img1c = cv2.imread(sys.argv[1])
 img2c = cv2.imread(sys.argv[2])
 img1g = cv2.cvtColor(img1c, cv2.COLOR_BGR2GRAY)
 img2g = cv2.cvtColor(img2c, cv2.COLOR_BGR2GRAY)
 u, v = hornShunckFlow(img1g, img2g, 0.1)
 imgRes = translateBrute(img2g, u, v)
 cv2.imwrite('Movimento.jpg', imgRes)
 print img1g
 print translateBrute(img2g, u, v)

如何解决此错误？

Answer 1

Atmel Studio使用AVRGCC，因此PORTB.1不是有效的语法。要切换端口上的特定位：

PORTB |= (1 << PB1);   // set bit 1 on PORTB
PORTB &= ~(1 << PB1);  // clear bit 1 on PORTB

你可以使用avr-libc定义的_BV宏并执行左移。

#DEFINE _BV(bit) (1 << bit)

所以你也可以写

PORTB |= _BV(PB1);

为了简化你可以定义辅助宏的事情，这很常见：

#define SETBIT(reg, bit) reg |= 1 << bit
#define CLRBIT(reg, bit) reg &= ~(1 << bit)

就个人而言，我可能会写一个函数：

void SetRelay(bool on) {
    if (on) {
        PORTB |= (1 << PB1);
    } else {
        PORTB &= ~(1 << PB1);
    }
}

Answer 2

PORTB=0x00;
DDRB=0x02;
etc

这些需求类型。如：

uint8_t PORTB=0x00;
uint8_t DDRB=0x02;

或适用于您的应用的任何内容。

C程序错误预期数字常量前的分号

2 个答案: