First of all, I copied/paste th code to see if it compliles in Arduino IDE, and it does, so I guess it's not a C++ related issue but maybe something more Atmel Studio or linker related.
I recently decided to switch from Arduino IDE to Atmel Studio to develop and program Arduino boards.
I have this project where I use a .h/.c library that I wrote, which is located in "../Lib". I have added the library with "Add existing item" and "Add as Link", because I wanted to work with the original code not a copy (a few things still need to be added to it)
A first it builded without any problem, but then I added an extra function in the library called "determineWinningPosition()". Now compilation returns an error :
D:\Google Drive\ISIB\5 - Mecatronic\Controller_v5_AS\Controller_v5_AS\Controller_v5\Sketch.cpp(76,28): error: 'determineWinningPositions' was not declared in this scope
determineWinningPositions();
The function prototype is declared in the library header "LetMeOut.h" :
#include <Arduino.h>
#include <Wire.h>
#include <avr/sleep.h>
#include <avr/power.h>
#include <EEPROM.h>
#include <stdlib.h>
// Key words
#define MOTOR1 (0)
#define MOTOR2 (1)
#define MAX_SPEED (15)
#define SIZE_RAND_SEQ (100)
#define BUTTON_TIMEOUT (10) // -> 1s
#define WINNING_POS_TOLERANCE (3)
#define GLOBAL_STATE_SIZE (7)
#define STATE0 (3)
#define STATE1 (2)
#define STATE2 (0)
#define STATE3 (1)
#define START (5)
#define STOP (10)
#define CHANGE_SPEED (15)
#define INIT_POS (20)
#define START_SPEED (25)
#define RESET_CMD (30)
#define GO_TO_POS (35)
#define UNLOCK_DOOR (40)
#define LOCK_DOOR (45)
#define CHANGE_WINNING_POS (50)
#define TRUE (1)
#define FALSE (0)
#define EEPROM_1 (0)
#define EEPROM_2 (1)
// Pins
#define DIR_M1 (A0)
#define DIR_M2 (A1)
#define EN_M1 (A2)
#define EN_M2 (A3)
#define SCL_PIN (A4)
#define SDA_PIN (A5)
#define STARTED_PIN (2)
#define A1_PIN (3)
#define B1_PIN (4)
#define A2_PIN (5)
#define CTL_M1 (6)
#define B2_PIN (7)
#define START_PIN (8)
#define STOP_M2 (9)
#define SUCCEED_PIN (10)
#define CTL_M2 (11)
#define STOP_M1 (12)
#define DOOR_PIN (13) // LED
// Prototypes
void Timer1_ISR(void);
void receiveEvent(int howMany);
void requestEvent();
void initI2C(void);
void initMotors(void);
void initEncoder(void);
void initDirectionTimer(void);
void setMotorSpeed(uint8_t motor, uint8_t motorSpeed, uint8_t dir);
void setAllMotorSpeed(uint8_t motorSpeed);
void stopMotor(uint8_t motorID);
void stopAllMotors (void);
void startMotor(uint8_t motorID);
void startAllMotors (void);
void buttonManager(void);
void directionManager(void);
void i2cCommandManager(void);
void printPosition(bool b);
void goToPosition(uint8_t position1_, uint8_t position2_);
void readEncoder(void);
void determineWinningPositions(void);
The function is implemented in "LetMeOut.cpp" :
#include "LetMeOut.h"
extern uint8_t directionChangeCounter1, directionChangeCounter2;
extern uint8_t directionChangeCounterTopValue1;
extern uint8_t directionChangeCounterTopValue2;
extern bool direction1;
extern bool direction2;
extern bool counterChanged;
extern uint8_t button1Counter;
extern bool button1CounterStarted;
extern uint8_t button2Counter;
extern bool button2CounterStarted;
extern volatile uint8_t startButtonCounter;
extern volatile bool startButtonCounterStarted;
extern uint8_t cmd[3];
extern uint8_t globalState[GLOBAL_STATE_SIZE];
extern bool newCmd;
const uint8_t randomSeq[SIZE_RAND_SEQ] = {9, 15, 8, 10, 10, 10, 17, 12, 6, 16, 6, 8, 14, 15, 19, 15, 9, 20, 13, 17, 7, 15, 13, 15, 5, 7, 10, 6, 8, 9, 14, 9, 19, 11, 15, 17, 17, 7, 18, 12, 8, 20, 12, 11, 6, 16, 19, 17, 16, 10, 14, 14, 18, 13, 5, 20, 17, 10, 17, 12, 15, 12, 16, 12, 12, 18, 18, 19, 13, 16, 6, 7, 16, 17, 12, 11, 19, 12, 19, 13, 15, 18, 5, 7, 8, 8, 16, 16, 8, 14, 17, 17, 13, 6, 6, 8, 7, 10, 20, 13};
extern uint8_t index1;
extern uint8_t index2;
extern uint8_t speedSetting;
extern volatile bool started;
extern bool initDone;
extern bool doorUnlocked;
extern volatile bool currentA1, currentB1, currentA2, currentB2;
extern volatile int currentState1, previousState1, currentState2, previousState2, position1, position2;
extern volatile bool printPos;
extern uint8_t winningPosition1;
extern uint8_t winningPosition2;
extern volatile bool succeed;
extern volatile bool motor1Started;
extern volatile bool motor2Started;
extern int* winningPositionList1;
extern int* winningPositionList2;
/************************************************************************************************/
/********************************** Interrupts and Callbacks ************************************/
/************************************************************************************************/
// Interrupt service routine called at every timer 1 overflow : every 100 ms
// Used to measure time between every speed changes and to implement a timeout every 1s to prevent
// the user from "machine gunning" the buttons
void Timer1_ISR(void)
{
// Increase both counters used for speed changes and notify the loop() there's been a change
directionChangeCounter1++;
directionChangeCounter2++;
counterChanged = 1;
// Prevent the user from "machine gunning" the buttons
if (button1CounterStarted)
{
button1Counter++;
if (button1Counter >= BUTTON_TIMEOUT)
{
button1CounterStarted = 0;
button1Counter = 0;
}
}
if (button2CounterStarted)
{
button2Counter++;
if (button2Counter >= BUTTON_TIMEOUT)
{
button2CounterStarted = 0;
button2Counter = 0;
}
}
// Debounce START_PIN
if (startButtonCounterStarted)
{
startButtonCounter++;
if (startButtonCounter >= 2)
{
startButtonCounterStarted = 0;
startButtonCounter = 0;
}
}
}
// Callback function that defines the behaviour in case of some received I2C bytes
void receiveEvent(int howMany)
{
// Read the incoming bytes
cmd[0] = Wire.read();
if (Wire.available())
cmd[1] = Wire.read();
if (Wire.available())
cmd[2] = Wire.read();
// Get rid of any other unread message
while (Wire.available() != 0)
{
Wire.read();
}
// Notify the loop() that there's a new command to be handled
newCmd = 1;
}
// Callback function that defines the behaviour in case of a received request
// for a global state update -> send the global state to the Rapsberry Pi
void requestEvent()
{
// Prepare the message to be sent
globalState[0] = started;
globalState[1] = succeed;
globalState[2] = speedSetting;
globalState[3] = doorUnlocked;
globalState[4] = initDone;
globalState[5] = winningPosition1;
globalState[6] = winningPosition2;
// Send the global state to the raspberry pi
for (int i=0; i<GLOBAL_STATE_SIZE; i++)
{
Wire.write(globalState[i]);
}
}
/************************************************************************************************/
/********************************** Initializations *********************************************/
/************************************************************************************************/
// Initialize the I2C
void initI2C(void)
{
Wire.begin(0x18);
Wire.onReceive(receiveEvent);
Wire.onRequest(requestEvent);
// Disable internal pullup
digitalWrite(SCL_PIN, LOW);
digitalWrite(SDA_PIN, LOW);
}
// Motor control related intializations
void initMotors(void)
{
// Initialize timer 0 to generate a square wave on OC0A (CTL_M1 - D6)
// Toggle OC0A on compare match (non-PWM mode), WF gen CTC mode
TCCR0A = _BV(COM0A0) | _BV(WGM21);
// Prescale = 1024 => period = 2 * 64us * (OCR0A+1);
TCCR0B = _BV(CS02) | _BV(CS00);
// Set initial value of compare (sets the frequency)
OCR0A = MAX_SPEED;
// => Changing OCR0A value will set frequency of the square wave and thus the motors speed
// Initialize timer 2 to generate a square wave on OC2A (CTL_M2 - D11)
// Toggle OC2B on compare match (non-PWM mode), WF gen CTC mode
TCCR2A = _BV(COM2A0) | _BV(WGM21);
// Prescale = 1024 => period = 2 * 64us * (OCR2A+1);
TCCR2B = _BV(CS22) | _BV(CS21) | _BV(CS20);
// Set initial value of compare (sets the frequency)
OCR2A = MAX_SPEED;
// => Changing OCR0A value will set frequency of the square wave and thus the motors speed
// Set the correct modes and initialize all the pins that are necessary for motor control
pinMode(CTL_M1, OUTPUT);
pinMode(CTL_M2, OUTPUT);
pinMode(DIR_M1, OUTPUT);
pinMode(DIR_M2, OUTPUT);
pinMode(EN_M1, OUTPUT);
digitalWrite(EN_M1, LOW);
pinMode(EN_M2, OUTPUT);
digitalWrite(EN_M2, LOW);
}
// Initialize pins and interrupts for the encoder
void initEncoder(void)
{
// Configure pin change interrupts (PCINT) on A1, B1, A2 and B2
// -> PCIE2 group
PCICR = _BV(PCIE2);
// Configure PCIE2 interrupt mask
PCMSK2 = _BV(PCINT19) | _BV(PCINT20) | _BV(PCINT21) | _BV(PCINT23);
pinMode(A1_PIN, INPUT);
pinMode(B1_PIN, INPUT);
pinMode(A2_PIN, INPUT);
pinMode(B2_PIN, INPUT);
}
// Initialize timer1 to overflow every 100 ms (used for timing related things)
void initDirectionTimer(void)
{
// Timer 1 config : normal mode
TCCR1A = 0;
// Prescaler 64 ; CTC mode
TCCR1B = _BV(CS11) | _BV(CS10) | _BV(WGM12);
TIMSK1 = 0b00000010;
// Initiate Timer 1 and compare A value
TCNT1 = 0;
OCR1A = 25000; // overflow every 100ms
}
/************************************************************************************************/
/****************************** Motor-related functions *****************************************/
/************************************************************************************************/
// Set the speed of a particular motor
void setMotorSpeed(uint8_t motor, uint8_t motorSpeed, uint8_t dir)
{
// Make sure the speed isn't too fast
if (motorSpeed < MAX_SPEED)
motorSpeed = MAX_SPEED;
// Set the speed by setting OCRxA and the direction by setting DIR_Mx pin
if (motor == MOTOR1)
{
OCR0A = motorSpeed;
digitalWrite(DIR_M1, dir);
}
else if (motor == MOTOR2)
{
OCR2A = motorSpeed;
digitalWrite(DIR_M2, dir);
}
}
// Set the speed of both motors at the same time
void setAllMotorSpeed(uint8_t motorSpeed)
{
// Make sure the speed isn't too fast
if (motorSpeed < MAX_SPEED)
motorSpeed = MAX_SPEED;
OCR0A = motorSpeed;
OCR2A = motorSpeed;
}
// Stop a particular motor by setting its "Not_EN" pin
void stopMotor(uint8_t motorID)
{
if (motorID == MOTOR1)
{
digitalWrite(EN_M1, HIGH);
}
else
{
digitalWrite(EN_M2, HIGH);
}
}
// Stop all motors by setting their "Not_EN" pin
void stopAllMotors (void)
{
digitalWrite(EN_M1, HIGH);
digitalWrite(EN_M2, HIGH);
}
// Start a particular motor by clearing its "Not_EN" pin
void startMotor(uint8_t motorID)
{
if (motorID == MOTOR1)
{
digitalWrite(EN_M1, LOW);
}
else
{
digitalWrite(EN_M2, LOW);
}
}
// Start all motors by clearing their "Not_EN" pin
void startAllMotors (void)
{
digitalWrite(EN_M1, LOW);
digitalWrite(EN_M2, LOW);
}
/************************************************************************************************/
/********************************** Other functions *********************************************/
/************************************************************************************************/
// Check is the player has pushed the button to stop the needles
// and implement corresponding behavior
void buttonManager(void)
{
// Has player pushed button 1 ?
if (!digitalRead(STOP_M1))
{
// If we're not in a button timeout period, stop the motors
if (!button1CounterStarted)
{
stopMotor(MOTOR1);
motor1Started = 0;
button1CounterStarted = 1;
}
}
else
{
if (!button1CounterStarted)
{
startMotor(MOTOR1);
motor1Started = 1;
}
// Keep the motor stopped during the timeout period
else
{
stopMotor(MOTOR1);
motor1Started = 0;
}
}
// Has player pushed button 2 ?
if (!digitalRead(STOP_M2))
{
// If we're not in a button timeout period, stop the motors
if (!button2CounterStarted)
{
stopMotor(MOTOR2);
motor2Started = 0;
button2CounterStarted = 1;
}
}
else
{
if (!button2CounterStarted)
{
startMotor(MOTOR2);
motor2Started = 1;
}
// Keep the motor stopped during the timeout period
else
{
stopMotor(MOTOR2);
motor2Started = 0;
}
}
if (!digitalRead(STOP_M1) && !digitalRead(STOP_M2))
{
bool won1 = 0, won2 = 0;
// Check if needle 1 is in a winning position
for (int i=0; i<2*WINNING_POS_TOLERANCE+1; i++)
{
if (position1 == winningPositionList1[i])
{
won1 = 1;
break;
}
}
// Check if needle 2 is in a winning position
for (int i=0; i < 2*WINNING_POS_TOLERANCE+1; i++)
{
if (position2 == winningPositionList2[i])
{
won2 = 1;
break;
}
}
// If both are winnin, the player won
if (won1 && won2)
{
digitalWrite(DOOR_PIN, HIGH);
doorUnlocked = TRUE;
Serial.println("WINNER");
succeed = 1;
started = 0;
digitalWrite(STARTED_PIN, started);
digitalWrite(SUCCEED_PIN, succeed);
// Make sure all motors are stopped (in case the switches has been pushed between the previous "if" and this one
// (happened once...)
stopAllMotors();
}
}
}
// Manages the direction changes
// This function is called whenever on of the direction change counter value has changed
void directionManager(void)
{
uint8_t newSpeed;
// Check if our counter has overflowed
if (directionChangeCounter1 >= directionChangeCounterTopValue1)
{
// Switch the direction
direction1 = !direction1;
// Reset the counter
directionChangeCounter1 = 0;
// Find the next value in the randomSeq array -> time intervals are random
index1 = (index1+1)%SIZE_RAND_SEQ;
directionChangeCounterTopValue1 = randomSeq[index1];
// Modify the speed according to the time value
// long time value <=> faster speed
// short time value <=> slower speed
if (directionChangeCounterTopValue1 < 10)
newSpeed = speedSetting + 4;
else if (directionChangeCounterTopValue1 < 15)
newSpeed = speedSetting + 2;
else
newSpeed = speedSetting;
setMotorSpeed(MOTOR1, newSpeed, direction1);
}
// Same as for motor 1...
if (directionChangeCounter2 >= directionChangeCounterTopValue2)
{
direction2 = !direction2;
directionChangeCounter2 = 0;
index2 = (index2+1)%SIZE_RAND_SEQ;
directionChangeCounterTopValue2 = randomSeq[index2];
if (directionChangeCounterTopValue2 < 10)
newSpeed = speedSetting + 4;
else if (directionChangeCounterTopValue2 < 15)
newSpeed = speedSetting + 2;
else
newSpeed = speedSetting;
setMotorSpeed(MOTOR2, newSpeed, direction2);
}
}
// Defines how the uC reacts to i2c commands from raspberry pi server
void i2cCommandManager(void)
{
// Did we get any command from the server ?
if (newCmd)
{
// Serial.print("i2c = ");
// Serial.print(cmd[0]);
// Serial.print(" ");
// Serial.print(cmd[1]);
// Serial.print(" ");
// Serial.println(cmd[2]);
switch (cmd[0])
{
case CHANGE_SPEED : // Change the speed
speedSetting = cmd[1];
setAllMotorSpeed(speedSetting);
Serial.print("speed = ");
Serial.println(speedSetting);
break;
case START : // Start and reset the game (unused, replaced by START_SPEED)
startAllMotors();
started = 1;
succeed = 0;
digitalWrite(STARTED_PIN, started);
digitalWrite(SUCCEED_PIN, succeed);
motor1Started = 1;
motor2Started = 1;
digitalWrite(DOOR_PIN, LOW);
doorUnlocked = FALSE;
Serial.println("START");
break;
case STOP : // Stop the game
stopAllMotors();
started = 0;
digitalWrite(STARTED_PIN, started);
motor1Started = 0;
motor2Started = 0;
Serial.println("STOP");
break;
case INIT_POS : // Calibrate the encoder according to the needles positions the user typed on the html form
position1 = cmd[1];
position2 = cmd[2];
initDone = TRUE;
Serial.print("Init Pos = ");
Serial.print(position1);
Serial.print(" ");
Serial.println(position2);
break;
case START_SPEED : // Reset, start and set the speed
startAllMotors();
started = 1;
succeed = 0;
digitalWrite(STARTED_PIN, started);
digitalWrite(SUCCEED_PIN, succeed);
motor1Started = 1;
motor2Started = 1;
digitalWrite(DOOR_PIN, LOW);
doorUnlocked = FALSE;
Serial.print("START SPEED = ");
speedSetting = cmd[1];
setAllMotorSpeed(speedSetting);
Serial.print("speed = ");
Serial.println(speedSetting);
break;
case RESET_CMD : // Reset the game without starting it
stopAllMotors();
succeed = 0;
started = 0;
digitalWrite(STARTED_PIN, started);
digitalWrite(SUCCEED_PIN, succeed);
motor1Started = 0;
motor2Started = 0;
digitalWrite(DOOR_PIN, LOW);
doorUnlocked = FALSE;
Serial.println("RESET");
break;
case GO_TO_POS : // Make the needles go to a certain position
Serial.print("Go to pos ");
Serial.print(cmd[1]);
Serial.print(" ");
Serial.println(cmd[2]);
goToPosition(cmd[1], cmd[2]);
break;
case UNLOCK_DOOR : // Unlock the door
digitalWrite(DOOR_PIN, HIGH);
doorUnlocked = TRUE;
Serial.println("Unlock the door");
break;
case LOCK_DOOR : // Lock the door
digitalWrite(DOOR_PIN, LOW);
doorUnlocked = FALSE;
Serial.println("Lock the door");
break;
case CHANGE_WINNING_POS : // Redefine the winning position, which is written on the EEPROM to keep it when the uC has been stopped
winningPosition1 = cmd[1];
winningPosition2 = cmd[2];
EEPROM.write(EEPROM_1, winningPosition1);
EEPROM.write(EEPROM_2, winningPosition2);
determineWinningPositions();
Serial.print("Change win. pos. to (");
Serial.print(cmd[1]);
Serial.print(",");
Serial.print(cmd[2]);
Serial.println(")");
break;
}
newCmd = 0;
}
}
// Print the current needles position for debug purposes
void printPosition(bool b)
{
if (printPos && b)
{
Serial.print(position1);
Serial.print(" ");
Serial.println(position2);
printPos = 0;
}
}
// Make the needles go to the position the user submitted on the html form
void goToPosition(uint8_t position1_, uint8_t position2_)
{
// Set the speed pretty slow and make sure the motors are started
setAllMotorSpeed(45);
startAllMotors();
bool okPos1 = 0, okPos2 = 0;
// turn the needles clockwise until the both reach the desired position
while(!(okPos1 && okPos2))
{
if (position1 == position1_)
{
stopMotor(MOTOR1);
okPos1 = 1;
}
if (position2 == position2_)
{
stopMotor(MOTOR2);
okPos2 = 1;
}
}
setAllMotorSpeed(speedSetting);
}
// Determine the new motor position when there's been a change on the encoder pins
void readEncoder(void)
{
// The binary combinations of A1 and B1 is always, in decimal :
// 3 2 0 1 3 2 0 1 3 2 0 1 ... when the motor is rotating clockwise
// 1 0 2 3 1 0 2 3 1 0 2 3 ... when the motor is rotating anticlockwise
// Knowing this we can deduce from A1-B1 combinations which way the motor is turning
currentA1 = digitalRead(A1_PIN);
currentB1 = digitalRead(B1_PIN);
// Serial.print(currentA1);
// Serial.print(currentB1);
// Serial.print(" ");
currentState1 = ((char)currentA1<<1) + currentB1;
if (currentState1 != previousState1)
{
if (currentState1 == STATE0)
{
if (previousState1 == STATE3)
{
position1++;
if (position1 == 60)
position1 = 0;
}
else if (previousState1 == STATE1)
{
position1--;
if (position1 == -1)
position1 = 59;
}
}
if (currentState1 == STATE1)
{
if (previousState1 == STATE0)
{
position1++;
if (position1 == 60)
position1 = 0;
}
else if (previousState1 == STATE2)
{
position1--;
if (position1 == -1)
position1 = 59;
}
}
if (currentState1 == STATE2)
{
if (previousState1 == STATE1)
{
position1++;
if (position1 == 60)
position1 = 0;
}
else if (previousState1 == STATE3)
{
position1--;
if (position1 == -1)
position1 = 59;
}
}
if (currentState1 == STATE3)
{
if (previousState1 == STATE2)
{
position1++;
if (position1 == 60)
position1 = 0;
}
else if (previousState1 == STATE0)
{
position1--;
if (position1 == -1)
position1 = 59;
}
}
previousState1 = currentState1;
printPos = 1;
}
currentA2 = digitalRead(A2_PIN);
currentB2 = digitalRead(B2_PIN);
// Serial.print(currentA2);
// Serial.println(currentB2);
currentState2 = ((char)currentA2<<1) + currentB2;
if (currentState2 != previousState2)
{
if (currentState2 == STATE0)
{
if (previousState2 == STATE3)
{
position2++;
if (position2 == 60)
position2 = 0;
}
else if (previousState2 == STATE1)
{
position2--;
if (position2 == -1)
position2 = 59;
}
}
if (currentState2 == STATE1)
{
if (previousState2 == STATE0)
{
position2++;
if (position2 == 60)
position2 = 0;
}
else if (previousState2 == STATE2)
{
position2--;
if (position2 == -1)
position2 = 59;
}
}
if (currentState2 == STATE2)
{
if (previousState2 == STATE1)
{
position2++;
if (position2 == 60)
position2 = 0;
}
else if (previousState2 == STATE3)
{
position2--;
if (position2 == -1)
position2 = 59;
}
}
if (currentState2 == STATE3)
{
if (previousState2 == STATE2)
{
position2++;
if (position2 == 60)
position2 = 0;
}
else if (previousState2 == STATE0)
{
position2--;
if (position2 == -1)
position2 = 59;
}
}
previousState2 = currentState2;
printPos = 1;
}
}
void determineWinningPositions(void)
{
int firstPos = winningPosition1-WINNING_POS_TOLERANCE;
if (firstPos < 0)
firstPos =+ 60;
for (int i=0; i<(2*WINNING_POS_TOLERANCE+1); i++)
{
winningPositionList1[i] = (firstPos+i)%60;
}
firstPos = winningPosition2-WINNING_POS_TOLERANCE;
if (firstPos < 0)
firstPos =+ 60;
for (int i=0; i<(2*WINNING_POS_TOLERANCE+1); i++)
{
winningPositionList2[i] = (firstPos+i)%60;
}
}
The header is included at the beginning of "Sketch.cpp" :
#include <Arduino.h>
#include "LetMeOut.h"
ISR(TIMER1_COMPA_vect );
ISR(PCINT2_vect );
bool debug = 0;
uint8_t directionChangeCounter1 = 0, directionChangeCounter2 = 0;
uint8_t directionChangeCounterTopValue1 = 10;
uint8_t directionChangeCounterTopValue2 = 10;
bool direction1 = 0;
bool direction2 = 0;
bool counterChanged = 0;
uint8_t button1Counter = 0;
bool button1CounterStarted = FALSE;
uint8_t button2Counter = 0;
bool button2CounterStarted = FALSE;
volatile uint8_t startButtonCounter = 0;
volatile bool startButtonCounterStarted = FALSE;
uint8_t cmd[3] = {0,0,0};
uint8_t globalState[GLOBAL_STATE_SIZE];
bool newCmd = 0;
uint8_t index1 = 0;
uint8_t index2 = 64;
uint8_t speedSetting = MAX_SPEED;
volatile bool started = 0;
bool initDone = FALSE;
bool doorUnlocked = FALSE;
volatile bool currentA1, currentB1, currentA2, currentB2;
volatile int currentState1, previousState1, currentState2, previousState2, position1, position2;
volatile bool printPos = 0;
uint8_t winningPosition1;
uint8_t winningPosition2;
volatile bool succeed = 0; // !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
volatile bool motor1Started = 0;
volatile bool motor2Started = 0;
int* winningPositionList1;
int* winningPositionList2;
void setup()
{
Serial.begin(2000000);
Serial.println("****************************************************************");
Serial.println("******************** L'horloge déjantée ************************");
Serial.println("************* Eric Bohnes - ISIB 2017-2018**********************");
Serial.println("****************** Master 2 Electronique ***********************");
Serial.println("****************** Cours de Mécatronique ***********************");
Serial.println("*****Collaboration avec l'Escape Game LET ME OUT Bruxelles *****");
Serial.println("****************************************************************\n\n");
initMotors();
initDirectionTimer();
initI2C();
initEncoder();
// Set the player's STOP buttons on INPUT_PULLUP
pinMode(STOP_M1, INPUT_PULLUP);
pinMode(STOP_M2, INPUT_PULLUP);
pinMode(SUCCEED_PIN, OUTPUT);
pinMode(STARTED_PIN, OUTPUT);
// Enable global interrupts
interrupts();
pinMode(START_PIN, INPUT_PULLUP);
stopAllMotors();
winningPosition1 = EEPROM.read(EEPROM_1);
winningPosition2 = EEPROM.read(EEPROM_2);
digitalWrite(STARTED_PIN, started);
digitalWrite(SUCCEED_PIN, succeed);
winningPositionList1 = (int*)malloc((2*WINNING_POS_TOLERANCE+1)*sizeof(int));
winningPositionList2 = (int*)malloc((2*WINNING_POS_TOLERANCE+1)*sizeof(int));
determineWinningPositions();
}
void loop()
{
// If the player didn't succeed yet, check we must change a direction or if the player pushed a button
if (!succeed)
{
// Check if it's time to change direction
if (counterChanged)
directionManager();
// If the game is started, poll the buttons
if (started)
buttonManager();
// Set the parameter TRUE for debugging purposes
printPosition(FALSE);
}
i2cCommandManager();
if (!digitalRead(START_PIN))
{
if (!startButtonCounterStarted)
{
startAllMotors();
started = 1;
succeed = 0;
digitalWrite(STARTED_PIN, started);
digitalWrite(SUCCEED_PIN, succeed);
motor1Started = 1;
motor2Started = 1;
doorUnlocked = FALSE;
digitalWrite(DOOR_PIN, LOW);
Serial.println("Started by pin");
startButtonCounterStarted = TRUE;
startButtonCounter = 0;
}
}
}
ISR(TIMER1_COMPA_vect)
{
Timer1_ISR();
}
ISR(PCINT2_vect)
{
readEncoder();
}
As I said before, I copied/pasted the sketch in Arduino IDE and it compiles without any errors with this tool. When trying to compile with Atmel Studio, I tried to build/rebuild the solution, the sketch itself, with and without cleaning first, still get the error.
Here is a solution explorer printscreen :
Any clue would be appreciated !
Best regards.
Eric
