ERROR

[amateurrobotguy]

I define like this

void Default_Routine(void)
{
long reduction;
double para;
long nodecimalpara;
long reduction2;
double para2;
long nodecimalpara2;

and get this:

D:\Robot\MyFiles\user_routines.c:239:Error [1105] symbol 'redeuction' has not been defined
D:\Robot\MyFiles\user_routines.c:246:Warning [2058] call of function without prototype
D:\Robot\MyFiles\user_routines.c:247:Warning [2058] call of function without prototype
D:\Robot\MyFiles\user_routines.c:252:Error [1105] symbol 'redeuction2' has not been defined
D:\Robot\MyFiles\user_routines.c:259:Error [1139] integer types required for bitwise XOR operator
D:\Robot\MyFiles\user_routines.c:260:Warning [2058] call of function without prototype

[Alex1072]

There's nothing that I can see in your code that should be causing those errors. It would help if you posted the rest of the function.

EDIT: After looking at it again, it looks like you spelled reduction differently from how you declared it:

D:\Robot\MyFiles\user_routines.c:239:Error [1105] symbol 'redeuction' has not been defined

The symbol 'redeuction' has not been defined, only 'reduction' has been.

Also, for this error:
D:\Robot\MyFiles\user_routines.c:259:Error [1139] integer types required for bitwise XOR operator

the 'a^b' in C/C++/java is not actually a to the power of b. It's the XOR operator.

if you have two binary integers: a = 1011, b= 1101, a^b would be: 0110. XOR compares each binay digit of a with the corresponding digit of b. If the digits are different, a 1 is placed as the corresponding digit of the result, if they are the same, a 0 is placed.

If you need to do something like a^2, you should just do a*a. If you need actual exponentials then you have to use math.h or write your own function. If you use the c math library, pow(a, b) = a to the bth power.

EDIT #2: fixed the name of the power function

[amateurrobotguy]

Ok, I will post my function...but where you see ???? it means the number has been editied out for secrecy purposes. BTW with the spelling fixed I still get :
D:\Robot\MyFiles\user_routines.c:242:Warning [2058] call of function without prototype
D:\Robot\MyFiles\user_routines.c:243:Warning [2058] call of function without prototype
D:\Robot\MyFiles\user_routines.c:255:Warning [2058] call of function without prototype
D:\Robot\MyFiles\user_routines.c:256:Error [1105] symbol 'nodecimalparatwo' has not been defined
D:\Robot\MyFiles\user_routines.c:256:Warning [2058] call of function without prototype
D:\Robot\MyFiles\user_routines.c:256:Error [1101] lvalue required
D:\Robot\MyFiles\user_routines.c:257:Error [1105] symbol 'nodecimalparatwo' has not been defined

#include "ifi_aliases.h"
#include "ifi_default.h"
#include "ifi_utilities.h"
#include "user_routines.h"
#include "printf_lib.h"
#include "user_Serialdrv.h"
#include <math.h>

...
void Default_Routine(void)
{
long reduction, nodecimalpara, reductiontwo, nodecomal, paratwo;
double para, para2;

/*---------- Analog Inputs (Joysticks) to PWM Outputs-----------------------
*--------------------------------------------------------------------------
* This maps the joystick axes to specific PWM outputs.
*/
reduction=p1_y-?;
if (reduction>=0)
{
}
else
{
reduction=reduction*-1;
}
para=((pow(reduction, ?)/?)+?);
nodecimalpara=ceil(para);
pwm01 = nodecimalpara;


reductiontwo=p2_y-?;
if (reductiontwo<=0)
{
reductiontwo=reductiontwo*-1;
}
else
{
}
paratwo=((pow(reductiontwo, ?/?)+?);
nodecimalparatwo=ceil(paratwo);
pwm02 = nodecimalparatwo;

[Alex1072]

D:\Robot\MyFiles\user_routines.c:242:Warning [2058] call of function without prototype
D:\Robot\MyFiles\user_routines.c:243:Warning [2058] call of function without prototype
D:\Robot\MyFiles\user_routines.c:255:Error [1139] integer types required for bitwise XOR operator
D:\Robot\MyFiles\user_routines.c:256:Error [1105] symbol 'nodecimalparatwo' has not been defined
D:\Robot\MyFiles\user_routines.c:256:Warning [2058] call of function without prototype
D:\Robot\MyFiles\user_routines.c:256:Error [1101] lvalue required
D:\Robot\MyFiles\user_routines.c:257:Error [1105] symbol 'nodecimalparatwo' has not been defined

If you look at the numbers after the name of the file: 243, 243, 255, 256, etc. The compiler tells you on which line the error is happening. Since I don't know the exact line numbers i'm not sure if this is the actual cause of the errors, but:

nodecimalparatwo is not defined, you should look at the variable declaration at the top of your function and make sure you don't use any variables that you do not declare.

The 'call of function without declaration' errors are happening because of the pow and ceil functions. These functions are provided in math.h, and are the correct names (http://www.opengroup.org/onlinepubs/...sh/math.h.html), but in order to use them you have to let the compiler know that you're going to be using the math.h library. In order to do that you have to put this line at the top of your file next to the other similar ones:

#include <math.h>

This will tell the compiler about all the functions that are in the math.h library so that it knows that they exist. The #include command tells the compiler to process the file "math.h" as if it were pasted into the begining of your file. The math.h file has all the declarations that the default c math library needs in order to work, including declarations of the pow and ceil functions you are trying to use.

[amateurrobotguy]

Ok, I fixed my definitions, but I am still getting the w/o prototype error. I did put the math.h here: It gives me the errors, then compiles further, but gives me build failed.

/************************************************** *****************************
* FILE NAME: user_routines.c <FRC VERSION>
*
* DESCRIPTION:
* This file contains the default mappings of inputs
* (like switches, joysticks, and buttons) to outputs on the RC.
*
* USAGE:
* You can either modify this file to fit your needs, or remove it from your
* project and replace it with a modified copy.
*
************************************************** *****************************/

#include "ifi_aliases.h"
#include "ifi_default.h"
#include "ifi_utilities.h"
#include "user_routines.h"
#include "printf_lib.h"
#include "user_Serialdrv.h"
#include <math.h>

[amateurrobotguy]

I think my math.h file might be bad. See the attachment with it. It doesn't have anything in it.

[Alex1072]

I've never actually used math.h in MPLAB, so I can't really say much. My math.h file is exactly the same though. For ceiling you could easilly write your own function; power is harder if you want it to support non-integer exponents. Anyone else have any suggestions? Is there a way to use math.h in mplab?

[amateurrobotguy]

Anyone have a good copy of math.h with all the math functions?

[Kevin Sevcik]

math.h is just a header file. header files typically don't contain any code, they just have compiler directives in case that library needs other includes, etc. The actual code will be in a math.c file in a libraries folder or something. I'm afraid I can't tell you for certain because I'm not at a computer with the compiler at the moment. At any rate, either you're missing math.c or it's corrupted, or someone's fiddled with compiler settings and you aren't pointing the compiler to the proper library folder anymore.

EDIT:
From a brief perusal, I note that the include folder should be c:\mcc18\lib

[amateurrobotguy]

First, if the include isn't set to the /h section, it will error with no adc.h found.
Can anyone explain the procedure for getting ceil() and pow() to work. I don't mind if its a header or a c file or manually program it in.

[amateurrobotguy]

I have made some progress. I got rid of all the error right down to the last lines:
MPLINK 3.40, Linker
Copyright (c) 2003 Microchip Technology Inc.
Error - could not find definition of symbol 'ceil' in file 'D:\Robot\MyFiles\user_routines.o'.
Errors : 1

All i did was this:

/************************************************** *****************************
* FILE NAME: user_routines.c <FRC VERSION>
*
* DESCRIPTION:
* This file contains the default mappings of inputs
* (like switches, joysticks, and buttons) to outputs on the RC.
*
* USAGE:
* You can either modify this file to fit your needs, or remove it from your
* project and replace it with a modified copy.
*
************************************************** *****************************/

#include "ifi_aliases.h"
#include "ifi_default.h"
#include "ifi_utilities.h"
#include "user_routines.h"
#include "printf_lib.h"
#include "user_Serialdrv.h"
#include <math.h>

extern unsigned char aBreakerWasTripped;

/*** DEFINE USER VARIABLES AND INITIALIZE tHEM HERE ***/

/* EXAMPLES: (see MPLAB C18 User's Guide, p.9 for all types)
unsigned char wheel_revolutions = 0; (can vary from 0 to 255)
unsigned int delay_count = 7; (can vary from 0 to 65,535)
int angle_deviation = 142; (can vary from -32,768 to 32,767)
unsigned long very_big_counter = 0; (can vary from 0 to 4,294,967,295)
*/
double ceil(double x);
double pow(double x, double y);

See two last lines. Am I going down the right path? If so, what is causing the error then?

[Adam Richards]

Originally Posted by amateurrobotguy

I define like this

void Default_Routine(void)
{
long reduction;
double para;
long nodecimalpara;
long reduction2;
double para2;
long nodecimalpara2;

and get this:

D:\Robot\MyFiles\user_routines.c:239:Error [1105] symbol 'redeuction' has not been defined
D:\Robot\MyFiles\user_routines.c:246:Warning [2058] call of function without prototype
D:\Robot\MyFiles\user_routines.c:247:Warning [2058] call of function without prototype
D:\Robot\MyFiles\user_routines.c:252:Error [1105] symbol 'redeuction2' has not been defined
D:\Robot\MyFiles\user_routines.c:259:Error [1139] integer types required for bitwise XOR operator
D:\Robot\MyFiles\user_routines.c:260:Warning [2058] call of function without prototype

Are you sure you're closing the function?

[amateurrobotguy]

I have the definitive response from C18 tech support:

I found the functions that you refer to however they are C30 math function found in the math.h for C30 dsPIC® Language Tools Libraries

The files you inquire about are defined in the dsPIC® Language Tools Libraries
http://ww1.microchip.com/downloads/e...Doc/51456b.pdf

see page 332 double ceil(double x);
see page 355 double pow(double x, double y);

The functions you can use in the C18 library under math.h
MPLAB® C18 C COMPILER LIBRARIES
http://ww1.microchip.com/downloads/e...Lib_51297d.pdf

see page 162 float ceil ( float x);
see page 165 float pow( float x, float y);

Unfortunately you cannot use the functions you refer to with C18. They are used with C30.


Basically FIRST stiffed us on the compiler...Pity...I could have made a kick-*** function if I had math access.

[Alex1072]

You could probably still write your own from scratch if you research how the normal computer math library (open source) does it and optimize only to do the operations you need. Also, you might want to consider using a look up table. Searching for look up tables on CD should give you quite a bit of results.