如何解决ESP32在Arduino IDE中构建:未定义对“ CLASS :: function”的引用
我试图在Arduino IDE中为ESP32编写Sensirion SFM3000流量传感器的库。只要是一个草图,一切都会起作用。但是,当我尝试将其分离为.h和.cpp文件并将其实现为类时,在尝试编译草图时会遇到一些奇怪的错误。
sketch\SFM3019_HSKA.cpp.o:(.literal._ZN12SFM3019_HSKA17i2c_read_flow_CRCEv+0x4): undefined reference to `SFM3019_HSKA::crc8(unsigned char,unsigned char)'
sketch\SFM3019_HSKA.cpp.o: In function `SFM3019_HSKA::i2c_read_flow_CRC()':
sketch/SFM3019_HSKA.cpp:124: undefined reference to `SFM3019_HSKA::crc8(unsigned char,unsigned char)'
sketch/SFM3019_HSKA.cpp:128: undefined reference to `SFM3019_HSKA::crc8(unsigned char,unsigned char)'
collect2.exe: error: ld returned 1 exit status
exit status 1
Fehler beim Kompilieren für das Board ESP32 Dev Module.
据我所知,该错误消息是在i2c_read_flow_CRC()method在SFM3019_HSKA.cpp文件的最后一个调用中调用crc8()方法时发生的。到目前为止,我没有看到语法错误。但是我对如何继续调试也没有其他想法...
这是试图在以下库中使用该库的主要代码:
#include "SFM3019_HSKA.h"
#include <Wire.h>
SFM3019_HSKA::SensVal_s SensVal = {0,0};
SFM3019_HSKA SFM3019(0x2E); //Generate Object SFM3019 of class SFM3019_HSKA
void setup() {
// put your setup code here,to run once:
Serial.begin (115200);
delay(100);
Wire.begin (21,22); // for ESP32: SDA= GPIO_21 /SCL= GPIO_22
SFM3019.i2c_device_check(); //checks if I2C device is available
SFM3019.i2c_write(0x3608); //write 2Byte to start continuous measurement
delay(100);
}
void loop() {
// put your main code here,to run repeatedly:
SensVal.flow = SFM3019.i2c_read_flow_CRC(); //read only Flow Bytes
Serial.println(SensVal.flow,10);
delay(100);
SensVal = SFM3019.i2c_read_all(); //read all Sensor Bytes
Serial.print("Flow: ");
if (SensVal.flow >= 0) Serial.print(" "); //just for beauty reasons
Serial.print(SensVal.flow,10);
Serial.print(" Temp: ");
Serial.print(SensVal.temp,3);
Serial.print(" Statusword: ");
Serial.print(SensVal.statusword,HEX);
delay(400);
Serial.println();
}
,这些是库文件: SFM3019_HSKA.h
#ifndef SFM3019_HSKA_H // include guard
#define SFM3019_HSKA_H
#include "Arduino.h"
class SFM3019_HSKA {
public: //can be accessed public
SFM3019_HSKA(uint8_t i2cAddress); //Constructor
//may be nicer in private if it works anyway
typedef struct {float flow; float temp; int16_t statusword;} SensVal_s; //Struct for complete Sensor Readout
SensVal_s SensVal = {0,0}; //initialize with 0
int8_t i2c_device_check(); //function for Initialisation
int8_t i2c_write(const uint16_t SendData); //function to write 16Bit Data to sensor
SensVal_s i2c_read_all(); //function to read Flow,Temperature and Statusword
float i2c_read_flow(); //function to only read Flow
float i2c_read_flow_CRC(); //function to only read Flow with CRC check
private: //can only be accessed by functions oh same object
uint8_t SFM3019addr = 46; //SFM3019 I2C Adress: 46 / 0x2E
uint8_t crc8(const uint8_t data,uint8_t crc); //fuction for CRC confirmation
};
#endif
和导致错误的C ++文件: SFM3019_HSKA.cpp:
#include "SFM3019_HSKA.h" //when placed in same folder
//#include <SFM3019_HSKA.h> //when placed in standard library folder
#include <Wire.h>
// some values needed for calculation of physical flow and temperature values
#define SFM3019Offset 24576
#define SFM3019ScaleFactorFlow 170.0 //needs to be a float,otherwise it will not calculate in float
#define SFM3019ScaleFactorTemp 200.0 //needs to be a float,otherwise it will not calculate in float
SFM3019_HSKA::SFM3019_HSKA(uint8_t i2cAddress) //constructor
{
//: mI2cAddress(i2cAddress)
SFM3019addr = i2cAddress;
}
/* checks if a Device at the desired address is responding with an ACK */
int8_t SFM3019_HSKA::i2c_device_check(){
Wire.beginTransmission(SFM3019addr); // Begin I2C transmission Address (i)
if (Wire.endTransmission() == 0) // Receive 0 = success (ACK response)
{
Serial.print ("Found Seosor at address");
Serial.print (SFM3019addr,DEC);
Serial.print (" (0x");
Serial.print (SFM3019addr,HEX); // 7 bit address
Serial.println (")");
return 0; //0=device sent ACK
}else{
Serial.print ("Did not receive Acknowledge from I2C address ");
Serial.print (SFM3019addr,HEX); // 7 bit address
Serial.println (")");
return 1; //no ACK received
}
}
/* writes a 16bit "SendData" to I2C Bus Device "address" */
int8_t SFM3019_HSKA::i2c_write(const uint16_t SendData) {
Wire.beginTransmission(SFM3019addr);
//fill I2C outbuffer
Wire.write((SendData>>8)& 0xFF); //isolate HighByte
Wire.write(SendData & 0xFF); //isolate LowByte
//send I2C outbuffer
Wire.endTransmission();
return 0;
}
/* reads all 9 measurement bytes for flow,temp and status */
SFM3019_HSKA::SensVal_s SFM3019_HSKA::i2c_read_all(){
SensVal_s SensVal = {0}; //create empty struct
Wire.requestFrom(SFM3019addr,9,true); // Request 9byte (3x16bit + CRC) from the sensor
//while(Wire.available()<3){}; //wait for all the data to be received //ATTENTION may be critical loop forever,however not using this may lead to an error,as the Buffer may be processed faster,then the input is read on I2C
//get Flow Bytes
int16_t flow = Wire.read()<<8; //get Highbyte and shift 8bit to 8MSB
flow = flow | Wire.read(); //get Lowbyte 8LSB
byte CRCflow = Wire.read(); //get CRC Check Byte (you could do a data validy check with that)
//Serial.println(flow,HEX); //raw values for debugging
SensVal.flow = (flow + SFM3019Offset) / SFM3019ScaleFactorFlow; //calculate the flow in slm as Datasheet mentions
//get Temperature Bytes
int16_t temp = Wire.read()<<8; //get Highbyte and shift 8bit to 8MSB
temp = temp | Wire.read(); //get Lowbyte 8LSB
byte CRCtemp = Wire.read(); //get CRC Check Byte (you could do a data validy check with that)
//Serial.println(temp,HEX); //raw values for debugging
SensVal.temp = temp / SFM3019ScaleFactorTemp; //calculate the flow in slm as Datasheet mentions
//get StatusWord Bytes
int16_t stat = Wire.read()<<8; //get Highbyte and shift 8bit to 8MSB
stat = stat | Wire.read(); //get Lowbyte 8LSB
byte CRCstat = Wire.read(); //get CRC Check Byte (you could do a data validy check with that)
//Serial.println(stat,HEX); //raw values for debugging
SensVal.statusword = temp / SFM3019ScaleFactorTemp; //calculate the flow in slm as Datasheet mentions
//return all data
return SensVal;
}
/* reads only first 3 bytes for flow and does NO CRC!*/
float SFM3019_HSKA::i2c_read_flow(){
Wire.requestFrom(SFM3019addr,3,true); // Request 9byte (2x16bit + CRC) from the sensor
//while(Wire.available()<3){}; //wait for all the data to be received //ATTENTION may be critical loop forever,then the input is read on I2C
int16_t flow = Wire.read()<<8; //get Highbyte and shift 8bit to 8MSB
flow = flow | Wire.read(); //get Lowbyte 8LSB
byte CRC = Wire.read(); //get CRC Check Byte (you could do a data validy check with that)
//Serial.println(flow,HEX); //raw values for debugging
return (flow + SFM3019Offset) / SFM3019ScaleFactorFlow; //calculate the flow in slm as Datasheet mentions
}
/* reads only first 3 bytes for flow and DOES CRC*/
float SFM3019_HSKA::i2c_read_flow_CRC(){
Wire.requestFrom(SFM3019addr,then the input is read on I2C
uint8_t Highbyte = Wire.read(); //get Highbyte 8MSB
uint8_t Lowbyte = Wire.read(); //get Lowbyte 8LSB
uint8_t CRC = Wire.read(); //get CRC Check Byte
//Confirm CRC
uint8_t mycrc = 0xFF; // initialize crc variable
mycrc = crc8(Highbyte,mycrc); // let first byte through CRC calculation
mycrc = crc8(Lowbyte,mycrc); // and the second byte too
if (mycrc != CRC) { // check if the calculated and the received CRC byte matches
//Serial.println("Error: wrong CRC");
return -10000; //extreme low value,so user knows somethig is wrong
} else {
//Serial.println("Success: identical CRC");
int16_t flow = (Highbyte<<8) | Lowbyte; //stack the to bytes together as signed int16
return (flow + SFM3019Offset) / SFM3019ScaleFactorFlow; //calculate the flow in slm as Datasheet mentions
}
}
/* calculate a CRC Byte,(Cyclic Redundancy Check) */
uint8_t crc8(const uint8_t data,uint8_t crc)
{
crc ^= data; //crc XOR data
for ( uint8_t i = 8; i; --i ) {
crc = ( crc & 0x80 )
? (crc << 1) ^ 0x31
: (crc << 1);
}
return crc;
}
对于任何关于如何继续的想法,我都会非常感激。
解决方法
/* calculate a CRC Byte,(Cyclic Redundancy Check) */
uint8_t crc8(const uint8_t data,uint8_t crc)
{
crc ^= data; //crc XOR data
for ( uint8_t i = 8; i; --i ) {
crc = ( crc & 0x80 )
? (crc << 1) ^ 0x31
: (crc << 1);
}
return crc;
}
需要为:
/* calculate a CRC Byte,(Cyclic Redundancy Check) */
uint8_t SFM3019_HSKA::crc8(const uint8_t data,uint8_t crc)
{
crc ^= data; //crc XOR data
for ( uint8_t i = 8; i; --i ) {
crc = ( crc & 0x80 )
? (crc << 1) ^ 0x31
: (crc << 1);
}
return crc;
}
您只是忘记将定义的方法标记为类的一部分。简单的错字错误。
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