我不知道为什么我的程序会向我抛出错误，即使我在程序中有未定义的函数。添加代码INA219 monitor;
我的代码：
#include "BNO055_ESP32.h"
#include <BLEDevice.h>
#include <BLEServer.h>
#include <BLEUtils.h>
#include <BLE2902.h>
#include <INA219.h>
#define SHUNT_MAX_V 0.02 /* Rated max for our shunt is 75mv for 50 A current:
we will mesure only up to 20A so max is about 75mV*20/50 lets put some more*/
#define BUS_MAX_V 5 /* with 12v lead acid battery this should be enough*/
#define MAX_CURRENT 5 /* In our case this is enaugh even shunt is capable to 50 A*/
#define SHUNT_R 0.1 /* Shunt resistor in ohm */
#define SERVICE_UUID "6E40180D-B5A3-F393-E0A9-E50E24DCCA9E" // UART service UUID
#define CHARACTERISTIC_UUID "6E402A37-B5A3-F393-E0A9-E50E24DCCA9E"
// BLE variables
bool deviceConnected = false;
BLECharacteristic *pCharacteristic;
INA219 monitor;
void setup() {
Wire.begin(21, 22, 400000);
Serial.begin(115200); //opens serial terminal
monitor.begin();
monitor.configure(INA219::RANGE_16V, INA219::GAIN_1_40MV, INA219::ADC_16SAMP , INA219::ADC_16SAMP , INA219::CONT_SH_BUS);
monitor.calibrate(SHUNT_R, SHUNT_MAX_V, BUS_MAX_V, MAX_CURRENT);
BLEDevice::init("SMART HELMET");
//----------BLE INITIALIZATION-------------
// Create the BLE Server
BLEServer *pServer = BLEDevice::createServer();
}
void loop() {
readQuatData(BNO055_quatCount);
// Calculate the quaternion values
BNO055_quat[0] = (float)(BNO055_quatCount[0]) / 16384.;
BNO055_quat[1] = (float)(BNO055_quatCount[1]) / 16384.;
BNO055_quat[2] = (float)(BNO055_quatCount[2]) / 16384.;
BNO055_quat[3] = (float)(BNO055_quatCount[3]) / 16384.;
pCharacteristic->setValue((uint8_t*)BNO055_quat, 16);
pCharacteristic->notify(); // Send the value to the app!
}
void readQuatData(int16_t * destination)
{
uint8_t rawData[8]; // x/y/z gyro register data stored here
readBytes(BNO055_ADDRESS, BNO055_QUA_DATA_W_LSB, 8, &rawData[0]); // Read the six raw data registers sequentially into data array
destination[0] = ((int16_t)rawData[1] << 8) | rawData[0] ; // Turn the MSB and LSB into a signed 16-bit value
destination[1] = ((int16_t)rawData[3] << 8) | rawData[2] ;
destination[2] = ((int16_t)rawData[5] << 8) | rawData[4] ;
destination[3] = ((int16_t)rawData[7] << 8) | rawData[6] ;
}
我得到的错误：
C:\Users\Boris\Documents\Arduino\pokus_BNO055_ESP32\BNO_jedna_charka\BNO_jedna_charka.ino: In function 'void loop()':
BNO_jedna_charka:216:36: error: 'readQuatData' was not declared in this scope
readQuatData(BNO055_quatCount);
^
C:\Users\Boris\Documents\Arduino\pokus_BNO055_ESP32\BNO_jedna_charka\BNO_jedna_charka.ino: In function 'void readQuatData(int16_t*)':
BNO_jedna_charka:282:66: error: 'readBytes' was not declared in this scope
readBytes(BNO055_ADDRESS, BNO055_QUA_DATA_W_LSB, 8, &rawData[0]); // Read the six raw data registers sequentially into data array
^
C:\Users\Boris\Documents\Arduino\pokus_BNO055_ESP32\BNO_jedna_charka\BNO_jedna_charka.ino: In function 'bool initBNO055()':
BNO_jedna_charka:346:64: error: 'writeByte' was not declared in this scope
writeByte(BNO055_ADDRESS, BNO055_OPR_MODE, BNO055_CONFIGMODE );
^
C:\Users\Boris\Documents\Arduino\pokus_BNO055_ESP32\BNO_jedna_charka\BNO_jedna_charka.ino: In function 'void accelgyroCalBNO055(float*, float*)':
BNO_jedna_charka:390:49: error: 'writeByte' was not declared in this scope
writeByte(BNO055_ADDRESS, BNO055_PAGE_ID, 0x00);
^
BNO_jedna_charka:401:65: error: 'readBytes' was not declared in this scope
readBytes(BNO055_ADDRESS, BNO055_ACC_DATA_X_LSB, 6, &data[0]); // Read the six raw data registers into data array
^
BNO_jedna_charka:430:65: error: 'readBytes' was not declared in this scope
readBytes(BNO055_ADDRESS, BNO055_GYR_DATA_X_LSB, 6, &data[0]); // Read the six raw data registers into data array
^
C:\Users\Boris\Documents\Arduino\pokus_BNO055_ESP32\BNO_jedna_charka\BNO_jedna_charka.ino: In function 'void magCalBNO055(float*)':
BNO_jedna_charka:530:64: error: 'writeByte' was not declared in this scope
writeByte(BNO055_ADDRESS, BNO055_OPR_MODE, BNO055_CONFIGMODE );
^
exit status 1
'readQuatData' was not declared in this scope
C:\Users\Boris\Documents\Arduino\ina219_pokus_stackoverflow\ina219_pokus_stackoverflow.ino: In function 'void loop()':
ina219_pokus_stackoverflow:45:32: error: 'readQuatData' was not declared in this scope
readQuatData(BNO055_quatCount);
^
C:\Users\Boris\Documents\Arduino\ina219_pokus_stackoverflow\ina219_pokus_stackoverflow.ino: In function 'void readQuatData(int16_t*)':
ina219_pokus_stackoverflow:63:66: error: 'readBytes' was not declared in this scope
readBytes(BNO055_ADDRESS, BNO055_QUA_DATA_W_LSB, 8, &rawData[0]); // Read the six raw data registers sequentially into data array
^
exit status 1
'readQuatData' was not declared in this scope
感谢您的帮助。
鲍里斯
答案 0 :(得分：0)
在C和C ++中，必须在调用函数之前声明它们。
您可以通过定义函数来实现此目的，就像在这里所做的那样：
void readQuatData(int16_t * destination)
{
uint8_t rawData[8]; // x/y/z gyro register data stored here
readBytes(BNO055_ADDRESS, BNO055_QUA_DATA_W_LSB, 8, &rawData[0]); // Read the six raw data registers sequentially into data array
destination[0] = ((int16_t)rawData[1] << 8) | rawData[0] ; // Turn the MSB and LSB into a signed 16-bit value
destination[1] = ((int16_t)rawData[3] << 8) | rawData[2] ;
destination[2] = ((int16_t)rawData[5] << 8) | rawData[4] ;
destination[3] = ((int16_t)rawData[7] << 8) | rawData[6] ;
}
或者您可以通过使用如下函数声明来做到这一点：
void readQuatData(int16_t * destination);
在声明readQuatData()之前，您正在致电它，因此您会收到此错误。
您可以将函数的定义移到使用它的位置之前，也可以在使用它之前声明它，就像这样：
INA219 monitor;
void readQuatData(int16_t * destination);
void setup() {
我将其放在对setup()的调用之前，以声明在代码开始之前需要在文件开始时声明的所有内容，比散布整个代码中的声明通常更简洁，更可维护。
您需要针对writeByte()和readBytes()执行此操作。您共享的代码中似乎缺少这些内容，因此您只能自己使用它们，但是您会做同样的事情-在使用它们之前先定义它们，或者在使用它们之前添加声明