我一直在尝试为加速度计编译一个代码，该代码可从两个来源获得，但是在github上引用了相同的代码:
https://github.com/ayildirim/OpenVR
https://github.com/ptrbrtz/razor-9dof-ahrs/
这两个源均包含以下arduino代码(c++):
#define HW__VERSION_CODE 10736 // SparkFun "9DOF Razor IMU" version "SEN-10736" (HMC5883L magnetometer)
// OUTPUT OPTIONS
/*****************************************************************/
// Set your serial port baud rate used to send out data here!
#define OUTPUT__BAUD_RATE 57600
// Sensor data output interval in milliseconds
// This may not work, if faster than 20ms (=50Hz)
// Code is tuned for 20ms, so better leave it like that
#define OUTPUT__DATA_INTERVAL 20 // in milliseconds
// Output mode definitions (do not change)
#define OUTPUT__MODE_CALIBRATE_SENSORS 0 // Outputs sensor min/max values as text for manual calibration
#define OUTPUT__MODE_ANGLES 1 // Outputs yaw/pitch/roll in degrees
#define OUTPUT__MODE_SENSORS_CALIB 2 // Outputs calibrated sensor values for all 9 axes
#define OUTPUT__MODE_SENSORS_RAW 3 // Outputs raw (uncalibrated) sensor values for all 9 axes
#define OUTPUT__MODE_SENSORS_BOTH 4 // Outputs calibrated AND raw sensor values for all 9 axes
// Output format definitions (do not change)
#define OUTPUT__FORMAT_TEXT 0 // Outputs data as text
#define OUTPUT__FORMAT_BINARY 1 // Outputs data as binary float
// Select your startup output mode and format here!
int output_mode = OUTPUT__MODE_ANGLES;
int output_format = OUTPUT__FORMAT_TEXT;
// Select if serial continuous streaming output is enabled per default on startup.
#define OUTPUT__STARTUP_STREAM_ON true // true or false
// If set true, an error message will be output if we fail to read sensor data.
// Message format: "!ERR: reading <sensor>", followed by "\r\n".
boolean output_errors = false; // true or false
// Bluetooth
// You can set this to true, if you have a Rovering Networks Bluetooth Module attached.
// The connect/disconnect message prefix of the module has to be set to "#".
// (Refer to manual, it can be set like this: SO,#)
// When using this, streaming output will only be enabled as long as we're connected. That way
// receiver and sender are synchronzed easily just by connecting/disconnecting.
// It is not necessary to set this! It just makes life easier when writing code for
// the receiving side. The Processing test sketch also works without setting this.
// NOTE: When using this, OUTPUT__STARTUP_STREAM_ON has no effect!
#define OUTPUT__HAS_RN_BLUETOOTH false // true or false
// SENSOR CALIBRATION
/*****************************************************************/
// How to calibrate? Read the tutorial at http://dev.qu.tu-berlin.de/projects/sf-razor-9dof-ahrs
// Put MIN/MAX and OFFSET readings for your board here!
// Accelerometer
// "accel x,y,z (min/max) = X_MIN/X_MAX Y_MIN/Y_MAX Z_MIN/Z_MAX"
#define ACCEL_X_MIN ((float) -289)
#define ACCEL_X_MAX ((float) 294)
#define ACCEL_Y_MIN ((float) -268)
#define ACCEL_Y_MAX ((float) 288)
#define ACCEL_Z_MIN ((float) -294)
#define ACCEL_Z_MAX ((float) 269)
// Magnetometer (standard calibration)
// "magn x,y,z (min/max) = X_MIN/X_MAX Y_MIN/Y_MAX Z_MIN/Z_MAX"
//#define MAGN_X_MIN ((float) -600)
//#define MAGN_X_MAX ((float) 600)
//#define MAGN_Y_MIN ((float) -600)
//#define MAGN_Y_MAX ((float) 600)
//#define MAGN_Z_MIN ((float) -600)
//#define MAGN_Z_MAX ((float) 600)
// Magnetometer (extended calibration)
// Uncommend to use extended magnetometer calibration (compensates hard & soft iron errors)
#define CALIBRATION__MAGN_USE_EXTENDED true
const float magn_ellipsoid_center[3] = {
3.80526, -16.4455, 87.4052};
const float magn_ellipsoid_transform[3][3] = {
{
0.970991, 0.00583310, -0.00265756 }
, {
0.00583310, 0.952958, 2.76726e-05 }
, {
-0.00265756, 2.76726e-05, 0.999751 }
};
// Gyroscope
// "gyro x,y,z (current/average) = .../OFFSET_X .../OFFSET_Y .../OFFSET_Z
#define GYRO_AVERAGE_OFFSET_X ((float) 23.85)
#define GYRO_AVERAGE_OFFSET_Y ((float) -53.41)
#define GYRO_AVERAGE_OFFSET_Z ((float) -15.32)
/*
// Calibration example:
// "accel x,y,z (min/max) = -278.00/270.00 -254.00/284.00 -294.00/235.00"
#define ACCEL_X_MIN ((float) -278)
#define ACCEL_X_MAX ((float) 270)
#define ACCEL_Y_MIN ((float) -254)
#define ACCEL_Y_MAX ((float) 284)
#define ACCEL_Z_MIN ((float) -294)
#define ACCEL_Z_MAX ((float) 235)
// "magn x,y,z (min/max) = -511.00/581.00 -516.00/568.00 -489.00/486.00"
//#define MAGN_X_MIN ((float) -511)
//#define MAGN_X_MAX ((float) 581)
//#define MAGN_Y_MIN ((float) -516)
//#define MAGN_Y_MAX ((float) 568)
//#define MAGN_Z_MIN ((float) -489)
//#define MAGN_Z_MAX ((float) 486)
// Extended magn
#define CALIBRATION__MAGN_USE_EXTENDED true
const float magn_ellipsoid_center[3] = {91.5, -13.5, -48.1};
const float magn_ellipsoid_transform[3][3] = {{0.902, -0.00354, 0.000636}, {-0.00354, 0.9, -0.00599}, {0.000636, -0.00599, 1}};
// Extended magn (with Sennheiser HD 485 headphones)
//#define CALIBRATION__MAGN_USE_EXTENDED true
//const float magn_ellipsoid_center[3] = {72.3360, 23.0954, 53.6261};
//const float magn_ellipsoid_transform[3][3] = {{0.879685, 0.000540833, -0.0106054}, {0.000540833, 0.891086, -0.0130338}, {-0.0106054, -0.0130338, 0.997494}};
//"gyro x,y,z (current/average) = -32.00/-34.82 102.00/100.41 -16.00/-16.38"
#define GYRO_AVERAGE_OFFSET_X ((float) -34.82)
#define GYRO_AVERAGE_OFFSET_Y ((float) 100.41)
#define GYRO_AVERAGE_OFFSET_Z ((float) -16.38)
*/
// DEBUG OPTIONS
/*****************************************************************/
// When set to true, gyro drift correction will not be applied
#define DEBUG__NO_DRIFT_CORRECTION false
// Print elapsed time after each I/O loop
#define DEBUG__PRINT_LOOP_TIME false
/*****************************************************************/
/****************** END OF USER SETUP AREA! *********************/
/*****************************************************************/
// Check if hardware version code is defined
#ifndef HW__VERSION_CODE
// Generate compile error
#error YOU HAVE TO SELECT THE HARDWARE YOU ARE USING! See "HARDWARE OPTIONS" in "USER SETUP AREA" at top of Razor_AHRS.pde (or .ino)!
#endif
#include <Wire.h>
#include <Compass.h>
#include <DCM.h>
#include <Math.h>
#include <Output.h>
#include <Sensors.h>
// Sensor calibration scale and offset values
#define ACCEL_X_OFFSET ((ACCEL_X_MIN + ACCEL_X_MAX) / 2.0f)
#define ACCEL_Y_OFFSET ((ACCEL_Y_MIN + ACCEL_Y_MAX) / 2.0f)
#define ACCEL_Z_OFFSET ((ACCEL_Z_MIN + ACCEL_Z_MAX) / 2.0f)
#define ACCEL_X_SCALE (GRAVITY / (ACCEL_X_MAX - ACCEL_X_OFFSET))
#define ACCEL_Y_SCALE (GRAVITY / (ACCEL_Y_MAX - ACCEL_Y_OFFSET))
#define ACCEL_Z_SCALE (GRAVITY / (ACCEL_Z_MAX - ACCEL_Z_OFFSET))
#define MAGN_X_OFFSET ((MAGN_X_MIN + MAGN_X_MAX) / 2.0f)
#define MAGN_Y_OFFSET ((MAGN_Y_MIN + MAGN_Y_MAX) / 2.0f)
#define MAGN_Z_OFFSET ((MAGN_Z_MIN + MAGN_Z_MAX) / 2.0f)
#define MAGN_X_SCALE (100.0f / (MAGN_X_MAX - MAGN_X_OFFSET))
#define MAGN_Y_SCALE (100.0f / (MAGN_Y_MAX - MAGN_Y_OFFSET))
#define MAGN_Z_SCALE (100.0f / (MAGN_Z_MAX - MAGN_Z_OFFSET))
// Gain for gyroscope (ITG-3200)
#define GYRO_GAIN 0.06957 // Same gain on all axes
#define GYRO_SCALED_RAD(x) (x * TO_RAD(GYRO_GAIN)) // Calculate the scaled gyro readings in radians per second
// DCM parameters
#define Kp_ROLLPITCH 0.02f
#define Ki_ROLLPITCH 0.00002f
#define Kp_YAW 1.2f
#define Ki_YAW 0.00002f
// Stuff
#define STATUS_LED_PIN 13 // Pin number of status LED
#define GRAVITY 256.0f // "1G reference" used for DCM filter and accelerometer calibration
#define TO_RAD(x) (x * 0.01745329252) // *pi/180
#define TO_DEG(x) (x * 57.2957795131) // *180/pi
// Sensor variables
float accel[3]; // Actually stores the NEGATED acceleration (equals gravity, if board not moving).
float accel_min[3];
float accel_max[3];
float magnetom[3];
float magnetom_min[3];
float magnetom_max[3];
float magnetom_tmp[3];
float gyro[3];
float gyro_average[3];
int gyro_num_samples = 0;
// DCM variables
float MAG_Heading;
float Accel_Vector[3]= {
0, 0, 0}; // Store the acceleration in a vector
float Gyro_Vector[3]= {
0, 0, 0}; // Store the gyros turn rate in a vector
float Omega_Vector[3]= {
0, 0, 0}; // Corrected Gyro_Vector data
float Omega_P[3]= {
0, 0, 0}; // Omega Proportional correction
float Omega_I[3]= {
0, 0, 0}; // Omega Integrator
float Omega[3]= {
0, 0, 0};
float errorRollPitch[3] = {
0, 0, 0};
float errorYaw[3] = {
0, 0, 0};
float DCM_Matrix[3][3] = {
{
1, 0, 0 }
, {
0, 1, 0 }
, {
0, 0, 1 }
};
float Update_Matrix[3][3] = {
{
0, 1, 2 }
, {
3, 4, 5 }
, {
6, 7, 8 }
};
float Temporary_Matrix[3][3] = {
{
0, 0, 0 }
, {
0, 0, 0 }
, {
0, 0, 0 }
};
// Euler angles
float yaw;
float pitch;
float roll;
// DCM timing in the main loop
unsigned long timestamp;
unsigned long timestamp_old;
float G_Dt; // Integration time for DCM algorithm
// More output-state variables
boolean output_stream_on;
boolean output_single_on;
int curr_calibration_sensor = 0;
boolean reset_calibration_session_flag = true;
int num_accel_errors = 0;
int num_magn_errors = 0;
int num_gyro_errors = 0;
void read_sensors() {
Read_Gyro(); // Read gyroscope
Read_Accel(); // Read accelerometer
Read_Magn(); // Read magnetometer
}
// Read every sensor and record a time stamp
// Init DCM with unfiltered orientation
// TODO re-init global vars?
void reset_sensor_fusion() {
float temp1[3];
float temp2[3];
float xAxis[] = {
1.0f, 0.0f, 0.0f };
read_sensors();
timestamp = millis();
// GET PITCH
// Using y-z-plane-component/x-component of gravity vector
pitch = -atan2(accel[0], sqrt(accel[1] * accel[1] + accel[2] * accel[2]));
// GET ROLL
// Compensate pitch of gravity vector
Vector_Cross_Product(temp1, accel, xAxis);
Vector_Cross_Product(temp2, xAxis, temp1);
// Normally using x-z-plane-component/y-component of compensated gravity vector
// roll = atan2(temp2[1], sqrt(temp2[0] * temp2[0] + temp2[2] * temp2[2]));
// Since we compensated for pitch, x-z-plane-component equals z-component:
roll = atan2(temp2[1], temp2[2]);
// GET YAW
Compass_Heading();
yaw = MAG_Heading;
// Init rotation matrix
init_rotation_matrix(DCM_Matrix, yaw, pitch, roll);
}
// Apply calibration to raw sensor readings
void compensate_sensor_errors() {
// Compensate accelerometer error
accel[0] = (accel[0] - ACCEL_X_OFFSET) * ACCEL_X_SCALE;
accel[1] = (accel[1] - ACCEL_Y_OFFSET) * ACCEL_Y_SCALE;
accel[2] = (accel[2] - ACCEL_Z_OFFSET) * ACCEL_Z_SCALE;
// Compensate magnetometer error
#if CALIBRATION__MAGN_USE_EXTENDED == true
for (int i = 0; i < 3; i++)
magnetom_tmp[i] = magnetom[i] - magn_ellipsoid_center[i];
Matrix_Vector_Multiply(magn_ellipsoid_transform, magnetom_tmp, magnetom);
#else
magnetom[0] = (magnetom[0] - MAGN_X_OFFSET) * MAGN_X_SCALE;
magnetom[1] = (magnetom[1] - MAGN_Y_OFFSET) * MAGN_Y_SCALE;
magnetom[2] = (magnetom[2] - MAGN_Z_OFFSET) * MAGN_Z_SCALE;
#endif
// Compensate gyroscope error
gyro[0] -= GYRO_AVERAGE_OFFSET_X;
gyro[1] -= GYRO_AVERAGE_OFFSET_Y;
gyro[2] -= GYRO_AVERAGE_OFFSET_Z;
}
// Reset calibration session if reset_calibration_session_flag is set
void check_reset_calibration_session()
{
// Raw sensor values have to be read already, but no error compensation applied
// Reset this calibration session?
if (!reset_calibration_session_flag) return;
// Reset acc and mag calibration variables
for (int i = 0; i < 3; i++) {
accel_min[i] = accel_max[i] = accel[i];
magnetom_min[i] = magnetom_max[i] = magnetom[i];
}
// Reset gyro calibration variables
gyro_num_samples = 0; // Reset gyro calibration averaging
gyro_average[0] = gyro_average[1] = gyro_average[2] = 0.0f;
reset_calibration_session_flag = false;
}
void turn_output_stream_on()
{
output_stream_on = true;
digitalWrite(STATUS_LED_PIN, HIGH);
}
void turn_output_stream_off()
{
output_stream_on = false;
digitalWrite(STATUS_LED_PIN, LOW);
}
// Blocks until another byte is available on serial port
char readChar()
{
while (Serial.available() < 1) {
} // Block
return Serial.read();
}
void setup()
{
// Init serial output
Serial.begin(OUTPUT__BAUD_RATE);
// Init status LED
pinMode (STATUS_LED_PIN, OUTPUT);
digitalWrite(STATUS_LED_PIN, LOW);
// Init sensors
delay(50); // Give sensors enough time to start
I2C_Init();
Accel_Init();
Magn_Init();
Gyro_Init();
// Read sensors, init DCM algorithm
delay(20); // Give sensors enough time to collect data
reset_sensor_fusion();
// Init output
#if (OUTPUT__HAS_RN_BLUETOOTH == true) || (OUTPUT__STARTUP_STREAM_ON == false)
turn_output_stream_off();
#else
turn_output_stream_on();
#endif
}
// Main loop
void loop()
{
// Read incoming control messages
if (Serial.available() >= 2)
{
if (Serial.read() == '#') // Start of new control message
{
int command = Serial.read(); // Commands
if (command == 'f') // request one output _f_rame
output_single_on = true;
else if (command == 's') // _s_ynch request
{
// Read ID
byte id[2];
id[0] = readChar();
id[1] = readChar();
// Reply with synch message
Serial.print("#SYNCH");
Serial.write(id, 2);
Serial.println();
}
else if (command == 'o') // Set _o_utput mode
{
char output_param = readChar();
if (output_param == 'n') // Calibrate _n_ext sensor
{
curr_calibration_sensor = (curr_calibration_sensor + 1) % 3;
reset_calibration_session_flag = true;
}
else if (output_param == 't') // Output angles as _t_ext
{
output_mode = OUTPUT__MODE_ANGLES;
output_format = OUTPUT__FORMAT_TEXT;
}
else if (output_param == 'b') // Output angles in _b_inary format
{
output_mode = OUTPUT__MODE_ANGLES;
output_format = OUTPUT__FORMAT_BINARY;
}
else if (output_param == 'c') // Go to _c_alibration mode
{
output_mode = OUTPUT__MODE_CALIBRATE_SENSORS;
reset_calibration_session_flag = true;
}
else if (output_param == 's') // Output _s_ensor values
{
char values_param = readChar();
char format_param = readChar();
if (values_param == 'r') // Output _r_aw sensor values
output_mode = OUTPUT__MODE_SENSORS_RAW;
else if (values_param == 'c') // Output _c_alibrated sensor values
output_mode = OUTPUT__MODE_SENSORS_CALIB;
else if (values_param == 'b') // Output _b_oth sensor values (raw and calibrated)
output_mode = OUTPUT__MODE_SENSORS_BOTH;
if (format_param == 't') // Output values as _t_text
output_format = OUTPUT__FORMAT_TEXT;
else if (format_param == 'b') // Output values in _b_inary format
output_format = OUTPUT__FORMAT_BINARY;
}
else if (output_param == '0') // Disable continuous streaming output
{
turn_output_stream_off();
reset_calibration_session_flag = true;
}
else if (output_param == '1') // Enable continuous streaming output
{
reset_calibration_session_flag = true;
turn_output_stream_on();
}
else if (output_param == 'e') // _e_rror output settings
{
char error_param = readChar();
if (error_param == '0') output_errors = false;
else if (error_param == '1') output_errors = true;
else if (error_param == 'c') // get error count
{
Serial.print("#AMG-ERR:");
Serial.print(num_accel_errors);
Serial.print(",");
Serial.print(num_magn_errors);
Serial.print(",");
Serial.println(num_gyro_errors);
}
}
}
#if OUTPUT__HAS_RN_BLUETOOTH == true
// Read messages from bluetooth module
// For this to work, the connect/disconnect message prefix of the module has to be set to "#".
else if (command == 'C') // Bluetooth "#CONNECT" message (does the same as "#o1")
turn_output_stream_on();
else if (command == 'D') // Bluetooth "#DISCONNECT" message (does the same as "#o0")
turn_output_stream_off();
#endif // OUTPUT__HAS_RN_BLUETOOTH == true
}
else
{
} // Skip character
}
// Time to read the sensors again?
if((millis() - timestamp) >= OUTPUT__DATA_INTERVAL)
{
timestamp_old = timestamp;
timestamp = millis();
if (timestamp > timestamp_old)
G_Dt = (float) (timestamp - timestamp_old) / 1000.0f; // Real time of loop run. We use this on the DCM algorithm (gyro integration time)
else G_Dt = 0;
// Update sensor readings
read_sensors();
if (output_mode == OUTPUT__MODE_CALIBRATE_SENSORS) // We're in calibration mode
{
check_reset_calibration_session(); // Check if this session needs a reset
if (output_stream_on || output_single_on) output_calibration(curr_calibration_sensor);
}
else if (output_mode == OUTPUT__MODE_ANGLES) // Output angles
{
// Apply sensor calibration
compensate_sensor_errors();
// Run DCM algorithm
Compass_Heading(); // Calculate magnetic heading
Matrix_update();
Normalize();
Drift_correction();
Euler_angles();
if (output_stream_on || output_single_on) output_angles();
}
else // Output sensor values
{
if (output_stream_on || output_single_on) output_sensors();
}
output_single_on = false;
#if DEBUG__PRINT_LOOP_TIME == true
Serial.print("loop time (ms) = ");
Serial.println(millis() - timestamp);
#endif
}
#if DEBUG__PRINT_LOOP_TIME == true
else
{
Serial.println("waiting...");
}
#endif
}
很好，代码只包含用于I2C通信的库，但是还有5个文件(.ino只是一个.cpp)，几乎没有声明任何函数。
通过简单地尝试编译代码，将给出以下错误:
Final_arduino_code.ino: In function ‘void read_sensors()’:
Final_arduino_code:427: error: ‘Read_Gyro’ was not declared in this scope
Final_arduino_code:428: error: ‘Read_Accel’ was not declared in this scope
Final_arduino_code:429: error: ‘Read_Magn’ was not declared in this scope
Final_arduino_code.ino: In function ‘void reset_sensor_fusion()’:
Final_arduino_code:450: error: ‘Vector_Cross_Product’ was not declared in this scope
Final_arduino_code:458: error: ‘Compass_Heading’ was not declared in this scope
Final_arduino_code:462: error: ‘init_rotation_matrix’ was not declared in this scope
Final_arduino_code.ino: In function ‘void compensate_sensor_errors()’:
Final_arduino_code:476: error: ‘Matrix_Vector_Multiply’ was not declared in this scope
Final_arduino_code.ino: In function ‘void setup()’:
Final_arduino_code:541: error: ‘I2C_Init’ was not declared in this scope
Final_arduino_code:542: error: ‘Accel_Init’ was not declared in this scope
Final_arduino_code:543: error: ‘Magn_Init’ was not declared in this scope
Final_arduino_code:544: error: ‘Gyro_Init’ was not declared in this scope
Final_arduino_code.ino: In function ‘void loop()’:
Final_arduino_code:675: error: ‘output_calibration’ was not declared in this scope
Final_arduino_code:683: error: ‘Compass_Heading’ was not declared in this scope
Final_arduino_code:684: error: ‘Matrix_update’ was not declared in this scope
Final_arduino_code:685: error: ‘Normalize’ was not declared in this scope
Final_arduino_code:686: error: ‘Drift_correction’ was not declared in this scope
Final_arduino_code:687: error: ‘Euler_angles’ was not declared in this scope
Final_arduino_code:689: error: ‘output_angles’ was not declared in this scope
Final_arduino_code:693: error: ‘output_sensors’ was not declared in this scope
好吧，这些功能中的大多数已经在此主要代码的同一文件夹中的其他文件中声明了，但是，我尝试为每个文件制作一个 header (.h)，只是声明了这些功能，但没有工作时，我尝试按原样包含文件，但不起作用，尝试将它们更改为.cpp，但包含文件却不起作用。
我作为问题发布到了两个github页面上，但仍然没有答案。
请先帮助我修复这些错误，谢谢。
最佳答案
并不是那么简单，它们不是.cpp文件。它们应该使用Ino工具箱(项目主页is here)构建。从得到的编译器错误来看，您没有使用此工具包。
缺少的核心部分是编译器通常需要的.h文件，以了解类似Read_Gyro()的函数是什么样的。当前，您列出的项目没有.h文件，也没有相应的#include指令。实际不确定Ino的工作方式，但我想它的作用就像一个预处理器，它将.ino文件合并为一大堆源代码，然后让编译器迷上了它。
强烈建议使用该工具包以取得成功并避免重大更改。