新人关于陀螺仪的求助

azhengli

这堆报错都怎么改啊？
In file included from L3G4200D.cpp:1:
L3G4200D.h:89: error: 'byte' has not been declared
L3G4200D.h:89: error: 'byte' has not been declared
L3G4200D.h:91: error: 'byte' does not name a type
L3G4200D.cpp:22: error: variable or field 'writeReg' declared void
L3G4200D.cpp:22: error: 'byte' was not declared in this scope
L3G4200D.cpp:22: error: 'byte' was not declared in this scope
L3G4200D.cpp:31: error: 'byte' does not name a type
L3G4200D.cpp: In member function 'void L3G4200D::read()':
L3G4200D.cpp:48: error: 'Wire' was not declared in this scope
L3G4200D.cpp:57: error: 'uint8_t' was not declared in this scope
L3G4200D.cpp:57: error: expected `;' before 'xla'
L3G4200D.cpp:58: error: expected `;' before 'xha'
L3G4200D.cpp:59: error: expected `;' before 'yla'
L3G4200D.cpp:60: error: expected `;' before 'yha'
L3G4200D.cpp:61: error: expected `;' before 'zla'
L3G4200D.cpp:62: error: expected `;' before 'zha'
L3G4200D.cpp:64: error: 'xha' was not declared in this scope
L3G4200D.cpp:64: error: 'xla' was not declared in this scope
L3G4200D.cpp:65: error: 'yha' was not declared in this scope
L3G4200D.cpp:65: error: 'yla' was not declared in this scope
L3G4200D.cpp:66: error: 'zha' was not declared in this scope
L3G4200D.cpp:66: error: 'zla' was not declared in this scope

源程序(L3G4200.h)
#ifndef L3G4200D_h

#define L3G4200D_h


#include <WProgram.h> // for byte data type


// register addresses


#define L3G4200D_WHO_AM_I      0x0F


#define L3G4200D_CTRL_REG1     0x20

#define L3G4200D_CTRL_REG2     0x21

#define L3G4200D_CTRL_REG3     0x22

#define L3G4200D_CTRL_REG4     0x23

#define L3G4200D_CTRL_REG5     0x24

#define L3G4200D_REFERENCE     0x25

#define L3G4200D_OUT_TEMP      0x26

#define L3G4200D_STATUS_REG    0x27


#define L3G4200D_OUT_X_L       0x28

#define L3G4200D_OUT_X_H       0x29

#define L3G4200D_OUT_Y_L       0x2A

#define L3G4200D_OUT_Y_H       0x2B

#define L3G4200D_OUT_Z_L       0x2C

#define L3G4200D_OUT_Z_H       0x2D


#define L3G4200D_FIFO_CTRL_REG 0x2E

#define L3G4200D_FIFO_SRC_REG  0x2F


#define L3G4200D_INT1_CFG      0x30

#define L3G4200D_INT1_SRC      0x31

#define L3G4200D_INT1_THS_XH   0x32

#define L3G4200D_INT1_THS_XL   0x33

#define L3G4200D_INT1_THS_YH   0x34

#define L3G4200D_INT1_THS_YL   0x35

#define L3G4200D_INT1_THS_ZH   0x36

#define L3G4200D_INT1_THS_ZL   0x37

#define L3G4200D_INT1_DURATION 0x38



class L3G4200D

{
       
  public:typedef struct vector
               
  {

    float x, y, z;
               
  }
  vector;

  vector g; // gyro angular velocity readings

               
  void enableDefault(void);


  void writeReg(byte reg, byte value);
               
  byte readReg(byte reg);
               
               
  void read(void);
// vector functions
               
  static void vector_cross(const vector *a, const vector *b, vector *out);

  static float vector_dot(const vector *a,const vector *b);

  static void vector_normalize(vector *a);

};


#endif

源程序(L3G4200.cpp)

#include <L3G4200D.h>
#include <Wire.h>
#include <math.h>

// Defines ////////////////////////////////////////////////////////////////

// The Arduino two-wire interface uses a 7-bit number for the address,
// and sets the last bit correctly based on reads and writes
#define GYR_ADDRESS (0xD2 >> 1)

// Public Methods //////////////////////////////////////////////////////////////

// Turns on the L3G4200D's gyro and places it in normal mode.
void L3G4200D::enableDefault(void)
{
        // 0x0F = 0b00001111
        // Normal power mode, all axes enabled
        writeReg(L3G4200D_CTRL_REG1, 0x0F);
}

// Writes a gyro register
void L3G4200D::writeReg(byte reg, byte value)
{
        Wire.beginTransmission(GYR_ADDRESS);
        Wire.send(reg);
        Wire.send(value);
        Wire.endTransmission();
}

// Reads a gyro register
byte L3G4200D::readReg(byte reg)
{
        byte value;
       
        Wire.beginTransmission(GYR_ADDRESS);
        Wire.send(reg);
        Wire.endTransmission();
        Wire.requestFrom(GYR_ADDRESS, 1);
        value = Wire.receive();
        Wire.endTransmission();
       
        return value;
}

// Reads the 3 gyro channels and stores them in vector g
void L3G4200D::read()
{
        Wire.beginTransmission(GYR_ADDRESS);
        // assert the MSB of the address to get the gyro
        // to do slave-transmit subaddress updating.
        Wire.send(L3G4200D_OUT_X_L | (1 << 7));
        Wire.endTransmission();
        Wire.requestFrom(GYR_ADDRESS, 6);

        while (Wire.available() < 6);
       
        uint8_t xla = Wire.receive();
        uint8_t xha = Wire.receive();
        uint8_t yla = Wire.receive();
        uint8_t yha = Wire.receive();
        uint8_t zla = Wire.receive();
        uint8_t zha = Wire.receive();

        g.x = xha << 8 | xla;
        g.y = yha << 8 | yla;
        g.z = zha << 8 | zla;
}

void L3G4200D::vector_cross(const vector *a,const vector *b, vector *out)
{
  out->x = a->y*b->z - a->z*b->y;
  out->y = a->z*b->x - a->x*b->z;
  out->z = a->x*b->y - a->y*b->x;
}

float L3G4200D::vector_dot(const vector *a,const vector *b)
{
  return a->x*b->x+a->y*b->y+a->z*b->z;
}

void L3G4200D::vector_normalize(vector *a)
{
  float mag = sqrt(vector_dot(a,a));
  a->x /= mag;
  a->y /= mag;
  a->z /= mag;
}

奈何col

首先库的版本比较老，1.0.x以前的IDE才能使用；
另外就是你的程序肯定有问题，其实错误提示已经说的明显了

azhengli

奈何col 发表于 2013-3-24 12:27
首先库的版本比较老，1.0.x以前的IDE才能使用；
另外就是你的程序肯定有问题，其实错误提示已经说的明显了 ...

程序是从别的地方扒下来的，主要就是writeReg不知道是啥，还望赐教

奈何col

writeReg  写寄存器，程序里定义了很多寄存器地址，用这个函数向指定的地址写入数据

azhengli

奈何col 发表于 2013-3-24 21:09
writeReg  写寄存器，程序里定义了很多寄存器地址，用这个函数向指定的地址写入数据 ...

谢谢，看来主要就是格式有问题了