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Question

An error occurred during the uploading the code to Arduino Atmega2560.

The errors are:

herkulex.cpp: In member function 'void herkulex::hklx_SendPacket(DrsPacket)':
herkulex.cpp:121: error: 'USART0_PutNChar' was not declared in this scope
herkulex.cpp: In member function 'unsigned char herkulex::hklx_ucReceivePacket(DrsPacket*)':
herkulex.cpp:211: error: 'USART0_ucGetNChar' was not declared in this scope
herkulex.cpp: In member function 'void herkulex::hklx_RemoveInvalidData()':
herkulex.cpp:244: error: 'USART0_ucTrashNChar' was not declared in this scope

Below is the code where the error occurred: (herkulex.cpp code)

#include<Arduino.h>
#include<Wire.h>
#include<Math.h> 

//ATmega128ì�˜ ë ˆì§€ìŠ¤í„° 등ì�´ ì •ì�˜ë�˜ì–´ 있ì�Œ
#include <avr/io.h>
//#include "TIMER0.h"
#include "USART0.h" 
//#include "USART0.c"

//#define __HERKULEX_C
#include "herkulex.h"
//#undef __HERKULEX_C

//void hklx_RemoveInvalidData(void);
#define herkulex_cpp

herkulex::herkulex()
{
  // Empty constructor. needed for lib
}



#define USART_BUF_SIZE 256  
#define PROTOCOL_SIZE_IDX 2
#define PROTOCOL_ID_IDX   3
#define PROTOCOL_CMD_IDX  4
#define PROTOCOL_CS1_IDX  5
#define PROTOCOL_CS2_IDX  6
#define PROTOCOL_DATA_IDX  7

//í—¤ë�” ê´€ë ¨
#define HEADER      0xFF

//SIZE ê´€ë ¨
#define MIN_PACKET_SIZE     7
#define MIN_ACK_PACKET_SIZE                 9
#define MAX_PACKET_SIZE                     223
#define MAX_DATA_SIZE                       (MAX_PACKET_SIZE-MIN_PACKET_SIZE)

//ID ê´€ë ¨
#define MAX_ID                              0xFD    
#define BROADCAST_ID                        0xFE  

//CMD ê´€ë ¨ - Request Packet
#define CMD_EEP_WRITE                       0x01
#define CMD_EEP_READ                        0x02
#define CMD_RAM_WRITE                       0x03
#define CMD_RAM_READ                        0x04    
    #define CMD_RW_DATA_ADDR_IDX            7
    #define CMD_RW_DATA_LEN_IDX             8
#define CMD_I_JOG                           0x05
    #define CMD_I_JOG_STRUCT_SIZE           5
    #define CMD_I_JOG_MAX_DRS               (MAX_DATA_SIZE/CMD_I_JOG_STRUCT_SIZE)
#define CMD_S_JOG                           0x06
    #define CMD_S_JOG_STRUCT_SIZE           4
    #define CMD_S_JOG_MAX_DRS               (MAX_DATA_SIZE/CMD_S_JOG_STRUCT_SIZE)
#define CMD_STAT                            0x07    
#define CMD_ROLLBACK                        0x08
#define CMD_REBOOT                          0x09

#define CMD_MIN                             (CMD_EEP_WRITE)
#define CMD_MAX                             (CMD_REBOOT)

//CMD ê´€ë ¨ - ACK Packet
#define CMD_ACK_MASK                        0x40

#define CMD_EEP_WRITE_ACK                   (CMD_EEP_WRITE|CMD_ACK_MASK)
#define CMD_EEP_READ_ACK                    (CMD_EEP_READ|CMD_ACK_MASK)
#define CMD_RAM_WRITE_ACK                   (CMD_RAM_WRITE|CMD_ACK_MASK)
#define CMD_RAM_READ_ACK                    (CMD_RAM_READ|CMD_ACK_MASK)
#define CMD_I_JOG_ACK                       (CMD_I_JOG|CMD_ACK_MASK)
#define CMD_S_JOG_ACK                       (CMD_S_JOG|CMD_ACK_MASK)
#define CMD_STAT_ACK                        (CMD_STAT|CMD_ACK_MASK)
#define CMD_ROLLBACK_ACK                    (CMD_ROLLBACK|CMD_ACK_MASK)
#define CMD_REBOOT_ACK                      (CMD_REBOOT|CMD_ACK_MASK)

#define CMD_ACK_MIN                         (CMD_EEP_WRITE_ACK)
#define CMD_ACK_MAX                         (CMD_REBOOT_ACK)

//CheckSum ê´€ë ¨
#define CHKSUM_MASK                         0xFE



//////////////////////////////receiving state result value //////////////////////////////
  enum{
    DRS_RXWAITING,
    DRS_RXCOMPLETE,
    DRS_HEADERNOTFOUND,
    DRS_INVALIDSIZE,
    DRS_UNKNOWNCMD,
    DRS_INVALIDID,
    DRS_CHKSUMERROR,
    DRS_RXTIMEOUT
  }DrsRxStatus;

void herkulex:: hklx_Init(unsigned long ulBaudRate){
//  TIMER0_Init();
//  USART0_Init(ulBaudRate);
    return;
}
#define HEADER      0xFF
void herkulex:: hklx_SendPacket(DrsPacket stPacket){
    unsigned char i;

    //í—¤ë�” ìž…ë ¥
    stPacket.ucHeader[0] = HEADER;
    stPacket.ucHeader[1] = HEADER;

    //CheckSum 계산 후 ìž…ë ¥
    stPacket.ucCheckSum1 = stPacket.ucPacketSize ^ stPacket.ucChipID ^ stPacket.ucCmd;
    for( i=0; i<(stPacket.ucPacketSize-MIN_PACKET_SIZE); i++ )    
        stPacket.ucCheckSum1 ^= stPacket.unData.ucData[i];

    stPacket.ucCheckSum2 = ~(stPacket.ucCheckSum1);
    stPacket.ucCheckSum1 &= CHKSUM_MASK;    
    stPacket.ucCheckSum2 &= CHKSUM_MASK;

    //PacketSize 만í�¼ USART0으로 ì†¡ì‹ 
    USART0_PutNChar(&stPacket.ucHeader[0], stPacket.ucPacketSize);

    return;
}

unsigned char herkulex:: hklx_ucReceivePacket(DrsPacket *pstPacket){
    unsigned char i, ucPacketSize, ucChipID, ucCmd, ucReadLen, ucCheckSum1, ucCheckSum2;

    //ë°›ì�€ ë�°ì�´í„° 수가 ACK 패킷ì�˜ 최소 사ì�´ì¦ˆë³´ë‹¤ ì �ì�„ 경우
    if(gucRxBufferCnt < MIN_ACK_PACKET_SIZE){
        return DRS_RXWAITING;
    }

    //패킷� 처� � 바�트가 헤�가 아� 경우
    if(gucRxBuffer[gucRxBufferReadIdx] != HEADER || 
       gucRxBuffer[((unsigned int)gucRxBufferReadIdx+1)%USART_BUF_SIZE] != HEADER){
        hklx_RemoveInvalidData();
        return DRS_HEADERNOTFOUND;   
    }
    //맞� 경우 Size, ID, Cmd를 �어옴
    else{
        ucPacketSize = gucRxBuffer[ ((unsigned int)gucRxBufferReadIdx + PROTOCOL_SIZE_IDX ) % USART_BUF_SIZE ];
        ucChipID = gucRxBuffer[ ((unsigned int)gucRxBufferReadIdx + PROTOCOL_ID_IDX ) % USART_BUF_SIZE ];
        ucCmd = gucRxBuffer[ ((unsigned int)gucRxBufferReadIdx + PROTOCOL_CMD_IDX ) % USART_BUF_SIZE ];
    }

    //Size가 최대보다 � 경우
    if(ucPacketSize > MAX_PACKET_SIZE){
        hklx_RemoveInvalidData();
        return DRS_INVALIDSIZE;
    }
    //아� Size 만�� ��터가 들어오지 않았� 경우
    else if(ucPacketSize > gucRxBufferCnt){
        return DRS_RXWAITING;
    }

    //Cmd가 범위를 벗어난 경우
    if(!(ucCmd >= CMD_ACK_MIN && ucCmd <= CMD_ACK_MAX)){
        hklx_RemoveInvalidData();
        return DRS_UNKNOWNCMD;
    }

    //ID가 범위를 벗어난 경우
    if(ucChipID >= BROADCAST_ID){
        hklx_RemoveInvalidData();
        return DRS_INVALIDID;
    }

    //ê°� Cmdì—� ë”°ë�¼ì„œ Sizeê°€ ì �합한지 검사
    switch(ucCmd){
        case CMD_EEP_WRITE_ACK:
        case CMD_RAM_WRITE_ACK:
        case CMD_I_JOG_ACK:
        case CMD_S_JOG_ACK:
        case CMD_STAT_ACK:
        case CMD_ROLLBACK_ACK:
        case CMD_REBOOT_ACK:
            if(ucPacketSize != MIN_ACK_PACKET_SIZE){
                hklx_RemoveInvalidData();
                return DRS_INVALIDSIZE;
            }
            break;
        case CMD_EEP_READ_ACK:
        case CMD_RAM_READ_ACK:
            ucReadLen = gucRxBuffer[ ((unsigned int)gucRxBufferReadIdx + CMD_RW_DATA_LEN_IDX ) % USART_BUF_SIZE ];
            if(ucPacketSize != (MIN_ACK_PACKET_SIZE + 2 + ucReadLen)){
                hklx_RemoveInvalidData();
                return DRS_INVALIDSIZE;
            }   
            break;
    }

    //ìˆ˜ì‹ ë�œ 패킷ì�˜ CheckSumì�„ 계산
    ucCheckSum1 = ucPacketSize ^ ucChipID ^ ucCmd;
    for(i=0;i<(ucPacketSize-MIN_PACKET_SIZE);i++){
        ucCheckSum1 ^= gucRxBuffer[ ((unsigned int)gucRxBufferReadIdx + i ) % USART_BUF_SIZE ];
    }
    ucCheckSum2 = ~(ucCheckSum1);
    ucCheckSum1 &= CHKSUM_MASK;
    ucCheckSum2 &= CHKSUM_MASK;

    //계산ë�œ CheckSumì�´ ì‹¤ì œë¡œ ë°›ì�€ ë�°ì�´í„°ì™€ ì�¼ì¹˜í•˜ëŠ”지 검사
    if(ucCheckSum1 != gucRxBuffer[ ((unsigned int)gucRxBufferReadIdx + PROTOCOL_CS1_IDX) % USART_BUF_SIZE ] ||
       ucCheckSum2 != gucRxBuffer[ ((unsigned int)gucRxBufferReadIdx + PROTOCOL_CS2_IDX) % USART_BUF_SIZE ])
    {
        hklx_RemoveInvalidData();
        return DRS_CHKSUMERROR;
    }       

    //ëª¨ë“  검사를 통과했다면, 받는 pstPacketì—� 패킷ì�„ 복사
    USART0_ucGetNChar(&(pstPacket->ucHeader[0]), ucPacketSize);

    //완료 �태를 반환
    return DRS_RXCOMPLETE;
}

void herkulex:: hklx_RemoveInvalidData(void){
    unsigned char ucRcvCnt, ucRdIndex, i;

    //버�� �태를 변수� 복사
    ucRcvCnt=gucRxBufferCnt;
    ucRdIndex=gucRxBufferReadIdx;

    //받� ��터가 없� 경우 반환
    if(ucRcvCnt==0){
        return;
    }

    //다ì�Œ í—¤ë�”를 찾거나 ë°›ì�€ ë�°ì�´í„°ì�˜ ë��ì—� ë�„ë‹¬í•  때까지 진행

    for(i=1;i<ucRcvCnt-1;i++){
        if( (gucRxBuffer[ ((unsigned int)ucRdIndex + i ) % USART_BUF_SIZE ] == HEADER ) &&
            (gucRxBuffer[ ((unsigned int)ucRdIndex + i + 1) % USART_BUF_SIZE ] == HEADER) )
        {
            break;
        }
    }
    if((i==ucRcvCnt-1) && (gucRxBuffer[ ((unsigned int)ucRdIndex + ucRcvCnt - 1) % USART_BUF_SIZE ] != HEADER))
    {
        i++;
    }       

    //i만� ��터를 버림
    USART0_ucTrashNChar(i);     

    return;
}

The variables that the error stated that they were not declared were all declared under USART0.h file which i have included in the herkulex.cpp file. May i know what's wrong with the codes? THanks!

USART0.h code: 
#ifndef USART0_lib
#define USART0_lib

#include <Arduino.h>
#include <Wire.h> 
#include <inttypes.h>
//ìˆ˜ì‹  버í�¼ì�˜ 사ì�´ì¦ˆ ì„ ì–¸
#define USART_BUF_SIZE 256

//ìˆ˜ì‹  버í�¼, ì�½ê¸° ì�¸ë�±ìŠ¤, 쓰기 ì�¸ë�±ìŠ¤, ë�°ì�´í„° 수를 ì €ìž¥í•  변수 ì„ ì–¸
volatile unsigned char gucRxBuffer[USART_BUF_SIZE];
volatile unsigned char gucRxBufferReadIdx;
volatile unsigned char gucRxBufferWriteIdx;
volatile unsigned char gucRxBufferCnt;

#ifdef USART0_cpp
#define EXTERN 
#else 
#define EXTERN extern 
#endif 

class USART0
{
  public: 
  USART0();

  void USART0_Init(unsigned long ulBaudRate);
  void USART0_PutChar(unsigned char ucData);
  void USART0_PutNChar(unsigned char *pucData, unsigned char ucCnt);
  unsigned char USART0_ucGetNChar(unsigned char *pucTarget, unsigned char ucCnt);
  unsigned char USART0_ucTrashNChar(unsigned char ucCnt);
  void USART0_ClearBuffer(void);

//  private :no private
};


#endif

Answer 1

USART0_PutChar is a member function of class USART0 . You are trying to call this from another class member function in the same way as standalone a non-member function - You need an instance of USART0 to call the function on.

In relation to your comment, you would need to create an instance of USART0 then call the function like you would any other member function

 USART0 obj;
 obj.USART0_PutChar();

You cannot call a member function like you are trying to currently unless you are calling it from another member function of the same class . You might be able to achieve what you want by passing an instance of USART0 (or pointer or reference to one) as an argument to the function in which you need to call USART0_PutChar() . Alternatively you could consider making this function a static member function of USART0 although that may be unsuitable depending on whether or not the function requires access to non-static member variables.

Answer 2

The function USART0_PutNChar (and the others) are member functions of another class. You need to create an instance of that class and call the functions through this object:

USART0 usart0;

usart0.USART0_PutNChar(...);

However, it seems like the class USART0 doesn't contain any state, which means you can either make the functions global (ie not in a class); Make the functions static, as in

// Using `struct` as there is no private or protected data/functions
struct USART0
{
    static void USART0_PutNChar(...);
    ...
};

And the third alternative is to make USART0 into a namespace:

namespace USART0
{
    void USART0_PutNChar(...);
    ...
}

In these last two cases you call the functions like this:

USART0::USART0_PutNChar(...);