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kalman
Guest
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| structure & pointer error |
 Posted: Mon Jan 18, 2010 10:11 am |
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I manage to learn structure and come up with this combination of code.
I already check but the compiler still give this error to almost all structure function.
Did I miss something???
| Code: |
#include<16F877A.h>
#device adc=10
#fuses HS, NOWDT, NOPROTECT, BROWNOUT, PUT, NOLVP
#use delay(clock=20000000)
#include <math.h>
#include <header.h>
struct Kalmanfilter
{
/* These variables represent our state matrix x */
float x_angle,
x_bias;
/* Our error covariance matrix */
float P_00,
P_01,
P_10,
P_11;
float Q_angle, Q_gyro;
float R_angle;
}filter_roll;
void main ()
{
float tmp, update_angle;
setup_adc_ports( ANALOG_RA3_REF );
setup_adc( ADC_CLOCK_DIV_32 );
init_Kalmanfilter(&filter_roll, 0.0001, 0.0003, 0.69); //expecting close paren error
while (1)
{
tmp = Acc_roll(accelero_z(), accelero_y(), accelero_x()); //expecting close paren error... and lot more below
kalman_predict(&filter_roll, gyro_roll_rad(), dt);
update_angle = kalman_update(&filter_roll(), tmp);
}
}
float gyro_roll_rad()
{
set_ADC_channel(1);
delay_us(20);
return ((read_adc()*1.6129)-750);
}
void init_Kalmanfilter(struct Kalmanfilter *filterdata, float Q_angle, float Q_gyro, float R_angle)
{
filterdata->Q_angle = Q_angle;
filterdata->Q_gyro = Q_gyro;
filterdata->R_angle = R_angle;
}
void kalman_predict(struct Kalmanfilter *filterdata, const float dotAngle, const float dt)
{
filterdata->x_angle += dt * (dotAngle - filterdata->x_bias);
filterdata->P_00 += - dt * (filterdata->P_10 + filterdata->P_01) + filterdata->Q_angle * dt;
filterdata->P_01 += - dt * filterdata->P_11;
filterdata->P_10 += - dt * filterdata->P_11;
filterdata->P_11 += + filterdata->Q_gyro * dt;
}
float kalman_update(struct Kalmanfilter *filterdata, const float angle_m)
{
const float y = angle_m - filterdata->x_angle;
const float S = filterdata->P_00 + filterdata->R_angle;
const float K_0 = filterdata->P_00 / S;
const float K_1 = filterdata->P_10 / S;
filterdata->x_angle += K_0 * y;
filterdata->x_bias += K_1 * y;
filterdata->P_00 -= K_0 * filterdata->P_00;
filterdata->P_01 -= K_0 * filterdata->P_01;
filterdata->P_10 -= K_1 * filterdata->P_00;
filterdata->P_11 -= K_1 * filterdata->P_01;
return filterdata->x_angle;
}
float Acc_roll(float a_z, float a_y, float a_x)
{
return -(atan2(-a_z, a_y)-(3.14159/2.0));
}
float accelero_x()
{
set_ADC_channel(0);
delay_us(20);
return ((((read_adc()*3.3)/1023)-1.5)/0.3);
}
float accelero_y()
{
set_ADC_channel(5);
delay_us(20);
return ((((read_adc()*3.3)/1023)-1.5)/0.3);
}
float accelero_z()
{
set_ADC_channel(6);
delay_us(20);
return ((((read_adc()*3.3)/1023)-1.5)/0.3);
}
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compiler PCWHD 4.084 |
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PCM programmer
Joined: 06 Sep 2003
Posts: 21708
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| Posted: Mon Jan 18, 2010 1:33 pm |
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Your program doesn't compile. It's missing the header.h file.
Also post your compiler version. It's a 4-digit number in this format: x.xxx |
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kalman
Guest
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| Posted: Mon Jan 18, 2010 4:53 pm |
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header file
| Code: |
float gyro_roll_rad();
float accelero_x();
float accelero_y();
float accelero_z();
void init_Kalmanfilter();
void Kalman_predict();
float Kalman_update();
float Acc_roll(); |
compiler PCWHD 4.084 |
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dyeatman
Joined: 06 Sep 2003
Posts: 1924
Location: Norman, OK
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| Posted: Mon Jan 18, 2010 5:24 pm |
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The problem is caused by the header declarations not being complete and matching the actual procedures.
| Code: |
void init_Kalmanfilter();
void Kalman_predict();
float Kalman_update();
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The simple fix is to comment out the header and move main to the
end. After the move you will have a few more issues to address.
Once I fixed the remaining issues it compiled with no problems. I will leave
them you to resolve (and learn :-)
_________________
Google and Forum Search are some of your best tools!!!! |
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Guest
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| Posted: Mon Jan 18, 2010 7:56 pm |
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| dyeatman wrote: | After the move you will have a few more issues to address.
Once I fixed the remaining issues it compiled with no problems. I will leave
them you to resolve (and learn :-) |
i tried search for any possible solution but its true lost...
any tips?
one more thing, what is this error pointing to my calling function..
a numeric expression must appear here |
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PCM programmer
Joined: 06 Sep 2003
Posts: 21708
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| Posted: Mon Jan 18, 2010 11:04 pm |
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Your code is not consistent. You need to clean it up before
presenting it to us.
For example, here you define the function 'Acc_roll()' to accept 3
floating point variables as parameters:
| Quote: |
float Acc_roll(float a_z, float a_y, float a_x)
{
return -(atan2(-a_z, a_y)-(3.14159/2.0));
}
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But when you call Acc_roll() in the code below, you appear to want
to give it 3 function pointers. But that's not how you defined the function.
| Quote: |
while (1)
{
tmp = Acc_roll(accelero_z(), accelero_y(), accelero_x()); //expecting close paren error... and lot more below
kalman_predict(&filter_roll, gyro_roll_rad(), dt);
update_angle = kalman_update(&filter_roll(), tmp);
}
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CCS has an example of using function pointers in this file:
| Quote: | | c:\program files\picc\examples\ex_qsort.c |
The typedef statement for the function pointer for the above file
is contained in this file:
| Quote: | | c:\program files\picc\drivers\stdlib.h |
These threads show how to use function pointers with structures.
I don't know if we have any threads that just show how to pass
them as a parameter to a function.
http://www.ccsinfo.com/forum/viewtopic.php?t=35500
http://www.ccsinfo.com/forum/viewtopic.php?t=33458
http://www.ccsinfo.com/forum/viewtopic.php?t=31637
Be aware that historically, there have been problems with using
function pointers with the 16F compiler. But they have been
made to work with the 18F compiler. You would have better
luck if you switched to an 18F452 or other 18F chip. |
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kalman
Guest
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| Posted: Tue Jan 19, 2010 7:44 am |
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but,, as mention here...
| dyeatman wrote: | The problem is caused by the header declarations not being complete and matching the actual procedures.
| Code: |
void init_Kalmanfilter();
void Kalman_predict();
float Kalman_update();
|
The simple fix is to comment out the header and move main to the
end. After the move you will have a few more issues to address.
Once I fixed the remaining issues it compiled with no problems. I will leave
them you to resolve (and learn :-) |
so it should be no problem right? |
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Guest
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| Posted: Tue Jan 19, 2010 8:03 am |
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| PCM programmer wrote: |
For example, here you define the function 'Acc_roll()' to accept 3
floating point variables as parameters:
| Quote: |
float Acc_roll(float a_z, float a_y, float a_x)
{
return -(atan2(-a_z, a_y)-(3.14159/2.0));
}
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But when you call Acc_roll() in the code below, you appear to want
to give it 3 function pointers. But that's not how you defined the function.
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Shouldn't the compiler be smart enough to know that what the poster wants is to get the return value from each of the three functions (accelero_x, etc) and use those returned float values as the inputs to the function? I'm pretty sure that's what they'd like to do. A reasonably intelligent compiler would do just that. I've seen code like that lots of times in MSVC and GCC code. |
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collink
Joined: 08 Jan 2010
Posts: 137
Location: Michigan
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| Posted: Tue Jan 19, 2010 8:08 am |
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Whoops.. I'm the guest... Forgot to login.
Anyway, from the code it's obvious that they hope the compiler will use the return value of each function as the relevant parameter. This should work I'd think. I do it in code in the PCH compiler. For instance:
while (!myfunction()) { |
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PCM programmer
Joined: 06 Sep 2003
Posts: 21708
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| Posted: Tue Jan 19, 2010 12:54 pm |
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If you still can't get it to compile, then post your latest program with
all the fixes that you have done so far. |
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kalman
Guest
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| Posted: Tue Jan 19, 2010 7:30 pm |
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working on it  |
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