need help with linker problem
Hi everyone,
i have been trying to do a program that will make a robot move the way i want. But when i try to make an EXE file or link using one of the files, it prompt me linker error message.  The software i am using is Turbo C++ ver. 3.01.
This is the code that i have been working on.
#include <stdio.h>
#include <stdlib.h>
#include <DOS3.h>
#define WORD_CONSTANT 65536
#define DATA 1
#define COMMAND 0
#define RSTI 0x1D
#define RESET 0x00
#define LFIL 0x1E
#define UDF 0x04
#define LTRJ 0x1F
#define STT 0x01
#define RDRV 0x0B
#define RDRP 0x0A
#define Traj_Cntrl 0x002A
#define Fil_Cntrl 0x0008 //kp set , ki, kd and il remain untouched
//ds set to 1 x Ts
#ifndef _clock_t
#define _clock_t
typedef long clock_t;
#endif
int Fir;
int ESC_BASE;
int channel; //Indicates which channel is in use, "0" for CHANNEL 1 and "1" for CHANNEL 2
int Filter_Cntrl=0x040F; //Filter contral mode (enable loading of filter parameter)
int Right_Trajectory_Cntrl; //Trajectory control mode (enable loading of trajectory parameter)
int Left_Trajectory_Cntrl;
int Kp=0x120; //0x380 //0x280 //Filter constant Kp, Ki, Kd, and Il(also known as parameter)
int Ki=0x0020;
int Kd=0x100; //0x0280;
int Il=0x8000;
int clock_t_timer;
int interval_time;
int calculate_map ( float VRc , float VLc );
int SpotTurnAngleCalculate ( float AnglePosition );
float RA;
float LA;
long int Right_Acceleration; //Left and Right vectors, both acceleration and velocity
long int Left_Acceleration;
long int Right_Vel;
long int Left_Vel;
long int Right_Pos;
long int Left_Pos;
float Right; //Indicates the linear speed of robot in cm/s
float Left;
float Right_Acc; //Indicates the linear acceleration of robot in cm/s/s
float Left_Acc;
float Real_Right; //store the converted linear speeds
float Real_Left;
float Right_Position; //store the converted distance traveled
float Left_Position;
float Right_Velocity = 0.0;
float Left_Velocity = 0.0;
float OldRight_Velocity = 0.0;
float OldLeft_Velocity = 0.0;
float OldRight_Position = 0.0;
float OldLeft_Position = 0.0;
float Wheel_circumference = 21.8;
int timer;
void _Cdecl delay (unsigned __milliseconds);
#ifdef __cplusplus
extern "C" {
#endif
clock_t _Cdecl clock (void);
#ifdef __cpluscplus
}
#endif
/*********************************************************************************************
* SET the PS register bit to indicate COMMAND or DATA is being send
*********************************************************************************************/
void set_PS(int byte)
{
int temp;
temp=(inp(ESC_BASE+0x02) & 0x0f); // Store current status register
if (byte==DATA)
outp(ESC_BASE+0x02,temp & 0x07); // Enables data sending
if (byte==COMMAND)
outp(ESC_BASE+0x02,temp | 0x08); // Enables command sending
}
int _check_busy(int channel)
{
int temp;
set_PS(COMMAND);
temp = inp(ESC_BASE+channel);
return(temp & 0x01);
}
void _wait_busy(int channel)
{
do
{}
while(_check_busy(channel));
}
/*********************************************************************************************
* Read real position of right side motor *
*********************************************************************************************/
float Read_Right_Position(void)
{
char first;
char second;
char third;
char fourth;
int RP;
channel=0; //set as channel number 1
set_PS(COMMAND);
outp(ESC_BASE+channel,RDRP); //send command to read real position
_wait_busy(channel);
set_PS(DATA);
first=inp(ESC_BASE+channel); //store higher word
second=inp(ESC_BASE+channel);
_wait_busy(channel);
set_PS(DATA);
third=inp(ESC_BASE+channel); //store lower word
fourth=inp(ESC_BASE+channel);
_wait_busy(channel);
RP=first;
RP=((RP<<8)&0xFF00)+second; //arrange the whole word
RP=((RP<<8)&0xFFFF00)+third;
RP=((RP<<8)&0xFFFFFF00)+fourth;
RP=(-1)*RP; //clarify the direction
Right_Position=RP; //store as a float value
Right_Position=(Right_Position)/(2048)/(3.75)*(Wheel_circumference);//convert the reading into distance traveled
///printf("\nread right position (RP):%d", RP);
//printf("\nread right position (Right_Position):%d", Right_Position);
return Right_Position;
}
/*********************************************************************************************
* Read real position of left side motor *
*********************************************************************************************/
float Read_Left_Position(void)
{
char first;
char second;
char third;
char fourth;
int LP;
channel=1; //set as channel number 2
set_PS(COMMAND);
outp(ESC_BASE+channel,RDRP); //send command to read real position
_wait_busy(channel);
set_PS(DATA);
first=inp(ESC_BASE+channel); //store higher word
second=inp(ESC_BASE+channel);
_wait_busy(channel);
set_PS(DATA);
third=inp(ESC_BASE+channel); //store lower word
fourth=inp(ESC_BASE+channel);
_wait_busy(channel);
LP=first;
LP=((LP<<8)&0xFF00)+second; //arrange the whole word
LP=((LP<<8)&0xFFFF00)+third;
LP=((LP<<8)&0xFFFFFF00)+fourth;
Left_Position=LP; //store as a float value
Left_Position=(Left_Position)/(2048)/(3.75)*(Wheel_circumference);//convert the reading into distance traveled
//printf("\nread left position (LP):%d", LP);
//printf("\nread left position (Left_Position):%d", Left_Position);
return Left_Position;
}
/*********************************************************************************************
* Setting filter constant *
*********************************************************************************************/
void _set_filter(int channel, int Cntrl, int Kp, int Ki, int Kd, int Il)
{
set_PS(COMMAND);
outp(ESC_BASE+channel,LFIL);
_wait_busy(channel);
set_PS(DATA);
outp(ESC_BASE+channel,Cntrl>>8 & 0xff); //Control word HB
outp(ESC_BASE+channel,Cntrl & 0xff); //and LB
_wait_busy(channel);
if (Cntrl & 0x0008)
{
set_PS(DATA);
outp(ESC_BASE+channel,Kp>>8 & 0xff);
outp(ESC_BASE+channel,Kp & 0xff); //Kp loaded
_wait_busy(channel);
}
if (Cntrl & 0x0004)
{
set_PS(DATA);
outp(ESC_BASE+channel,Ki>>8 & 0xff);
outp(ESC_BASE+channel,Ki & 0xff); //Ki loaded
_wait_busy(channel);
}
if (Cntrl & 0x0002)
{
set_PS(DATA);
outp(ESC_BASE+channel,Kd>>8 & 0xff);
outp(ESC_BASE+channel,Kd & 0xff); //Kd loaded
_wait_busy(channel);
}
if (Cntrl & 0x0001)
{
set_PS(DATA);
outp(ESC_BASE+channel,Il>>8 & 0xff);
outp(ESC_BASE+channel,Il & 0xff); //Il loaded
_wait_busy(channel);
}
set_PS(COMMAND);
outp(ESC_BASE+channel,UDF);
_wait_busy(channel);
}
/*********************************************************************************************
* Set trajectory control *
*********************************************************************************************/
void _set_traject(int channel, int Cntrl, long int Acc, long int Vel, long int Pos)
{
set_PS(COMMAND);
outp(ESC_BASE+channel,LTRJ);
_wait_busy(channel);
set_PS(DATA);
outp(ESC_BASE+channel,Cntrl>>8 & 0xff); // Send out high byte
outp(ESC_BASE+channel,Cntrl & 0xff); // Send out low byte
_wait_busy(channel);
if (Cntrl & 0x20) // Acceleration will be loaded
{
set_PS(DATA);
outp(ESC_BASE+channel,(int)(Acc>>24 & 0xff));
outp(ESC_BASE+channel,(int)(Acc>>16 & 0xff)); // Acc loaded high word
_wait_busy(channel);
set_PS(DATA);
outp(ESC_BASE+channel,(int)(Acc>>8 & 0xff));
outp(ESC_BASE+channel,(int)(Acc & 0xff)); // Acc loaded low word
_wait_busy(channel);
}
if (Cntrl & 0x08) // Velocity will be loaded
{
set_PS(DATA);
outp(ESC_BASE+channel,(int)(Vel>>24 & 0xff));
outp(ESC_BASE+channel,(int)(Vel>>16 & 0xff)); // Vel loaded high word
_wait_busy(channel);
set_PS(DATA);
outp(ESC_BASE+channel,(int)(Vel>>8 & 0xff));
outp(ESC_BASE+channel,(int)(Vel & 0xff)); // Vel loaded low word
_wait_busy(channel);
}
if (Cntrl & 0x02) // Position will be loaded
{
set_PS(DATA);
outp(ESC_BASE+channel,(int)(Pos>>24 & 0xff));
outp(ESC_BASE+channel,(int)(Pos>>16 & 0xff)); // Pos loaded high word
_wait_busy(channel);
set_PS(DATA);
outp(ESC_BASE+channel,(int)(Pos>>8 & 0xff));
outp(ESC_BASE+channel,(int)(Pos & 0xff)); // Pos loaded low word
_wait_busy(channel);
}
set_PS(COMMAND);
outp(ESC_BASE+channel,STT); // Start movement
_wait_busy(channel);
}
/*********************************************************************************************
* Initialize the motor *
*********************************************************************************************/
int _initialize(int channel)
{
set_PS(COMMAND); // Enter command mode
outp(ESC_BASE+channel,RESET); // Issue software reset
_wait_busy(channel);
outp(ESC_BASE+channel,RSTI); // Reset interrupts
_wait_busy(channel);
set_PS(DATA);
outp(ESC_BASE+channel,00); // HB, don't care
outp(ESC_BASE+channel,00); // LB write 00
_wait_busy(channel);
return(0); // Not really needed
}
/*********************************************************************************************
* Calculations and coding of velocity and acceleration *
**********************************************************************************************
**********************************************************************************************
* Wheel diameter = 7cm; Wheel circumference = 22cm *
* Gear ratio = 60/16 *
* Wheel's angular velocity(rps) = Linear speed(cm/s)/Circumference *
* Motor's angular velocity(rps) = Wheel's angular velocity(rps) x Gear ratio *
* *
* V = R x T x desired rps *
* R = 512 x 4 = 2048 *
* T = 2048/4E6 = 512us *
* thus V = 1.048576 x desired rps *
* *
* A = R x T x T x desired acceleration(r/s/s) *
* thus A = (5.36870912E-4) x desired acceleration *
*********************************************************************************************/
void Vectors_Coding(void)
{
Right_Vel = (WORD_CONSTANT)*(1.048576)*(3.75)*(Right)/(Wheel_circumference);
Left_Vel = (WORD_CONSTANT)*(1.048576)*(3.75)*(Left)/(Wheel_circumference);
Right_Acceleration = (WORD_CONSTANT)*(5.36870912E-4)*Right_Acc;
Left_Acceleration = (WORD_CONSTANT)*(5.36870912E-4)*Left_Acc;
}
/*********************************************************************************************
* Clears interrupts and returns status register *
*********************************************************************************************/
int _clr_intr(int channel)
{
int temp;
set_PS(COMMAND);
outp(ESC_BASE+channel,RSTI); // Reset command
_wait_busy(channel);
set_PS(DATA);
outp(ESC_BASE+channel,00); // HB, don't care
outp(ESC_BASE+channel,00); // LB write 00
_wait_busy(channel);
set_PS(COMMAND);
temp = inp(ESC_BASE+channel);
_wait_busy(channel);
return(temp);
}
/*********************************************************************************************
* To stop the motor from turning, disable the torque *
*********************************************************************************************/
void _motor_off(void)
{
int Traj_Cntrl_n;
Traj_Cntrl_n = ((Traj_Cntrl | 0x0100) & 0xFF00);
// Set Motor-OFF bit and set no other parameters to be loaded
for(channel=0;channel<2;channel++)
{
_set_traject(channel,Traj_Cntrl_n,0L,0L,0L);
_clr_intr(channel); // Previous trajectory interrupt status cleared;
// must be performed before new trajectory works
}
delay(10);
}
/*********************************************************************************************
* Set the position of the motor *
*********************************************************************************************/
void SetPosition(float RP, float LP, float RV, float LV, float AnglePosition)
{
_motor_off(); //Motor must be stopped before loading new acceleration(manually stopped)
//also for the position control purpose
RP=(-1)*RP;
Right_Pos= (2048)*(3.75)*(RP)/Wheel_circumference;
Left_Pos= (2048)*(3.75)*(LP)/Wheel_circumference;
//printf("\nset position (RP):%d", Right_Pos);
//printf("\nset position (LP):%d", Left_Pos);
//printf("\nset position (Right_Pos):%d", Right_Pos);
//printf("\nset position (Left_Pos):%d", Left_Pos);
Right=RV;
Left=LV;
Right_Acc=RA;
Left_Acc=LA;
Right_Trajectory_Cntrl=0x002B;
Left_Trajectory_Cntrl=0x002B;
/*Calculations and coding of velocity and acceleration*/
Vectors_Coding();
for(channel=0;channel<2;channel++)
{
_initialize(channel);
_set_filter(channel,(int)Filter_Cntrl,(int)Kp,(int)Ki,(int)Kd,(int)Il);
if(channel==0)
_set_traject(channel,(int)Right_Trajectory_Cntrl,(long int)Right_Acceleration,(long int)Right_Vel,(long int)Right_Pos);
else
_set_traject(channel,(int)Left_Trajectory_Cntrl,(long int)Left_Acceleration,(long int)Left_Vel,(long int)Left_Pos);
}
if(Fir == 1)
{
Fir = 2;
return;
}
if(Fir == 2)
{
Read_Right_Position();
Read_Left_Position();
interval_time = ( ( clock () - timer ));
timer = clock ();
if(interval_time !=0)
{
OldRight_Position = Right_Position;
OldLeft_Position = Left_Position;
SpotTurnAngleCalculate ( AnglePosition );
}
return;
}
//fclose(Pos);
}
/*********************************************************************************************
* Check if bit is busy before transmission *
*********************************************************************************************/
void Check_Trajectory_Complete(void)
{
int temp;
for(;;)
{
set_PS(COMMAND);
temp = inp(ESC_BASE+0); // Read trajectory complete bit of channel 1
if(temp & 0x04)
break;
}
for(;;)
{
set_PS(COMMAND);
temp = inp(ESC_BASE+1); // Read trajectory complete bit of channel 2
if(temp & 0x04)
break;
}
}
void StopSetPosition (void)
{
delay(150);
SetPosition(0, 0, 0, 0, 0);
Check_Trajectory_Complete();
}
/*********************************************************************************************
* Set the velocity of the motor *
*********************************************************************************************/
void SetVelocity(float RV, float LV)
{
/*Right Trajestory control="0808H", indicates forward direction*/
/*Left Trajestory control="1808H", indicates reverse direction*/
/*Acceleration has already loaded, need not to be reloaded again*/
Right=RV;
Left=LV;
if(Right<0) //-ve number indicates reverse direction
{
Right_Trajectory_Cntrl=0x1808; //Reverse direction
Right=(-1)*Right;
}
else
Right_Trajectory_Cntrl=0x0808; //Forward direction
if(Left<0) //-ve number indicates reverse direction
{
Left_Trajectory_Cntrl=0x0808; //Reverse direction
Left=(-1)*Left;
}
else
Left_Trajectory_Cntrl=0x1808; //Forward direction
/*Calculations and coding of velocity and acceleration*/
Vectors_Coding();
_set_traject(0,(int)Right_Trajectory_Cntrl,(long int)Right_Acceleration,(long int)Right_Vel,(long int)Right_Pos);
_set_traject(1,(int)Left_Trajectory_Cntrl,(long int)Left_Acceleration,(long int)Left_Vel,(long int)Left_Pos);
if(Fir == 1)
{
Fir = 2;
return;
}
if(Fir == 2)
{
Read_Right_Position();
Read_Left_Position();
interval_time = ( ( clock () - timer ));
if(interval_time !=0)
{
timer = clock ();
Right_Velocity = ( ( Right_Position - OldRight_Position ) / ( interval_time / 1000.0 ) );
Left_Velocity = ( ( Left_Position - OldLeft_Position ) / ( interval_time / 1000.0 ) );
OldRight_Position = Right_Position;
OldLeft_Position = Left_Position;
calculate_map ( Right_Velocity , Left_Velocity );
}
return;
}
}
/*********************************************************************************************
*RZL: Set speed to zero and stop motor normally *
*********************************************************************************************/
void Motor_Stop(void)
{
SetVelocity(0,0);//set the speed of the motor to '0'
}
void Left90Turn(void)
{
Motor_Stop();
delay(180);
SetPosition( 10.6275, -10.6275, 20, 20, 90.0 );
Check_Trajectory_Complete();
StopSetPosition();
}
/*********************************************************************************************
* Initialize the motors in a stay still condition with torque *
*********************************************************************************************/
void Initialize_Motor(void)
{
Right_Acc=14; //Set the acceleration as 14rev/s/s
Left_Acc=14;
Right_Trajectory_Cntrl=0x0828; //Indicate both motors are ready to move forward
Left_Trajectory_Cntrl=0x1828; //Indicate acceleration will be loaded
outp(ESC_BASE+0x02,0x01);
// Host reset connected to chips
// LM629 drive selected for motors
// PS bit 03, 1 after reset (data mode)
/*Calculations and coding of velocity and acceleration*/
Vectors_Coding();
for(channel=0;channel<2;channel++)
{
_initialize(channel);
_set_filter(channel,(int)Filter_Cntrl,(int)Kp,(int)Ki,(int)Kd,(int)Il);
if(channel==0)
_set_traject(channel,(int)Right_Trajectory_Cntrl,(long int)Right_Acceleration,(long int)Right_Vel,(long int)Right_Pos);
else
_set_traject(channel,(int)Left_Trajectory_Cntrl,(long int)Left_Acceleration,(long int)Left_Vel,(long int)Left_Pos);
}
}
/**********************************************************************
* Name: Main *
**********************************************************************/
void main()
{
Initialize_Motor();
/**********User Code Section**********/
while(1)
{
SetPosition(11.0,11.0,20,20,0.0);
Check_Trajectory_Complete();
StopSetPosition();
SetVelocity(30.0,30.0);
delay(3000);
Left90Turn();
}
/***************End*******************/
}
This is the DOS3 header file which i have edited to clear some errors i encountered.
/* dos.h
Defines structs, unions, macros, and functions for dealing
with MSDOS and the Intel iAPX86 microprocessor family.
Copyright (c) Borland International 1987,1988,1990
All Rights Reserved.
*/
#ifndef __DOS_H
#define __DOS_H
#if __STDC__
#define _Cdecl
#else
#define _Cdecl cdecl
#endif
#ifndef __PAS__
#define _CType _Cdecl
#else
#define _CType pascal
#endif
/* Variables */
extern int const _Cdecl _8087;
extern int _Cdecl _argc;
extern char **_Cdecl _argv;
extern char **_Cdecl environ;
extern int _Cdecl _doserrno;
extern unsigned _Cdecl _heaplen;
extern unsigned char _Cdecl _osmajor;
extern unsigned char _Cdecl _osminor;
extern unsigned _Cdecl _psp;
extern unsigned _Cdecl _stklen;
extern unsigned _Cdecl _fpstklen;
extern unsigned _Cdecl _version;
#define FA_RDONLY 0x01 /* Read only attribute */
#define FA_HIDDEN 0x02 /* Hidden file */
#define FA_SYSTEM 0x04 /* System file */
#define FA_LABEL 0x08 /* Volume label */
#define FA_DIREC 0x10 /* Directory */
#define FA_ARCH 0x20 /* Archive */
#define NFDS 20 /* Maximum number of fds */
struct fcb {
char fcb_drive; /* 0 = default, 1 = A, 2 = B */
char fcb_name[8]; /* File name */
char fcb_ext[3]; /* File extension */
short fcb_curblk; /* Current block number */
short fcb_recsize; /* Logical record size in bytes */
long fcb_filsize; /* File size in bytes */
short fcb_date; /* Date file was last written */
char fcb_resv[10]; /* Reserved for DOS */
char fcb_currec; /* Current record in block */
long fcb_random; /* Random record number */
};
struct xfcb {
char xfcb_flag; /* Contains 0xff to indicate xfcb */
char xfcb_resv[5]; /* Reserved for DOS */
char xfcb_attr; /* Search attribute */
struct fcb xfcb_fcb; /* The standard fcb */
};
struct COUNTRY {
int co_date;
char co_curr[5];
char co_thsep[2];
char co_desep[2];
char co_dtsep[2];
char co_tmsep[2];
char co_currstyle;
char co_digits;
char co_time;
long co_case;
char co_dasep[2];
char co_fill[10];
};
struct DOSERROR {
int de_exterror;
int de_class;
char de_action;
char de_locus;
};
struct dfree {
unsigned df_avail;
unsigned df_total;
unsigned df_bsec;
unsigned df_sclus;
};
struct fatinfo {
char fi_sclus;
char fi_fatid;
int fi_nclus;
int fi_bysec;
};
struct devhdr {
long dh_next; /* Next device pointer */
short dh_attr; /* Attributes */
unsigned short dh_strat; /* Driver strategy routine */
unsigned short dh_inter; /* Driver interrupt routine */
char dh_name[8]; /* Device name */
};
struct time {
unsigned char ti_min; /* Minutes */
unsigned char ti_hour; /* Hours */
unsigned char ti_hund; /* Hundredths of seconds */
unsigned char ti_sec; /* Seconds */
};
struct date {
int da_year; /* Year - 1980 */
char da_day; /* Day of the month */
char da_mon; /* Month (1 = Jan) */
};
struct WORDREGS {
int ax, bx, cx, dx;
int si, di, cflag, flags;
};
struct BYTEREGS {
unsigned char al, ah, bl, bh;
unsigned char cl, ch, dl, dh;
};
union REGS {
struct WORDREGS x;
struct BYTEREGS h;
};
struct SREGS {
unsigned int es;
unsigned int cs;
unsigned int ss;
unsigned int ds;
};
struct REGPACK {
unsigned r_ax, r_bx, r_cx, r_dx, r_bp;
unsigned r_si, r_di, r_ds, r_es, r_flags;
};
typedef struct {
char ds_drive; /* do not change */
char ds_pattern [13]; /* these fields, */
char ds_reserved [7]; /* Microsoft reserved */
char ds_attrib;
short ds_time;
short ds_date;
long ds_size;
char ds_nameZ [13]; /* result of the search, asciiz */
} dosSearchInfo; /* used with DOS functions 4E, 4F */
#ifdef __cplusplus
extern "C" {
#endif
/*
int _Cdecl absread (int __drive, int __nsects, long __lsect, void *__buffer);
int _Cdecl abswrite(int __drive, int __nsects, long __lsect, void *__buffer);
int _Cdecl allocmem(unsigned __size, unsigned *__segp);
int _CType bdos (int __dosfun, unsigned __dosdx, unsigned __dosal);
int _Cdecl bdosptr (int __dosfun, void *__argument, unsigned __dosal);
struct COUNTRY *_Cdecl country (int __xcode, struct COUNTRY *__cp);
void _Cdecl ctrlbrk (int _Cdecl (*handler)(void));
void _Cdecl delay (unsigned __milliseconds);
void _Cdecl disable (void);
int _Cdecl dosexterr (struct DOSERROR *__eblkp);
long _Cdecl dostounix (struct date *__d, struct time *__t);
void __emit__();
void _Cdecl enable (void);
int _Cdecl freemem (unsigned __segx);
int _Cdecl getcbrk (void);
void _CType getdate (struct date *__datep);
void _Cdecl getdfree(unsigned char __drive, struct dfree *__dtable);
void _Cdecl getfat (unsigned char __drive, struct fatinfo *__dtable);
void _Cdecl getfatd (struct fatinfo *__dtable);
unsigned _Cdecl getpsp (void);
int _Cdecl getswitchar (void);
void _CType gettime (struct time *__timep);
int _Cdecl getverify (void);
void _Cdecl harderr (int _Cdecl (*handler)());
void _Cdecl hardresume (int __axret);
void _Cdecl hardretn(int __retn);
int _Cdecl inport (int __portid);
unsigned char _Cdecl inportb(int __portid);
int _Cdecl int86 (int __intno, union REGS *__inregs, union REGS *__outregs);
int _Cdecl int86x (int __intno, union REGS *__inregs, union REGS *__outregs,
struct SREGS *__segregs);
int _Cdecl intdos (union REGS *__inregs, union REGS *__outregs);
int _Cdecl intdosx (union REGS *__inregs, union REGS *__outregs,
struct SREGS *__segregs);
void _Cdecl intr (int __intno, struct REGPACK *__preg);
void _Cdecl keep (unsigned char __status, unsigned __size);
void _Cdecl nosound (void);
*/
void _Cdecl outport (int __portid, int __value);
void _Cdecl outportb(int __portid, unsigned char __value);
/*char *_Cdecl parsfnm (const char *__cmdline, struct fcb *__fcb, int __opt);
int _Cdecl peek (unsigned __segment, unsigned __offset);
char _Cdecl peekb (unsigned __segment, unsigned __offset);
void _Cdecl poke (unsigned __segment, unsigned __offset, int __value);
void _Cdecl pokeb (unsigned __segment, unsigned __offset, char __value);
int _Cdecl randbrd (struct fcb *__fcb, int __rcnt);
int _Cdecl randbwr (struct fcb *__fcb, int __rcnt);
void _Cdecl segread (struct SREGS *__segp);
int _Cdecl setblock(unsigned __segx, unsigned __newsize);
int _Cdecl setcbrk (int __cbrkvalue);
void _Cdecl setdate (struct date *__datep);
void _Cdecl setswitchar (char __ch);
void _Cdecl settime (struct time *__timep);
void _Cdecl setverify (int __value);
void _Cdecl sleep (unsigned __seconds);
void _Cdecl sound (unsigned __frequency);
void _Cdecl unixtodos (long __time, struct date *__d, struct time *__t);
int _CType unlink (const char *__path);
*/
/* These are in-line functions. These prototypes just clean up
some syntax checks and code generation.
*/
/*void _Cdecl __cli__ (void);
void _Cdecl __sti__ (void);
void _Cdecl __int__ (int __interruptnum);
*/
unsigned char _Cdecl __inportb__ (int __portid);
void _Cdecl __outportb__(int __portid, unsigned char __value);
/*#define disable() __emit__( (char)(0xfa) )
#define enable() __emit__( (char)(0xfb) )
*/
//#define geninterrupt(i) __int__(i) /* Interrupt instruction */
#define outportb __outportb__
#define inportb __inportb__
/* some other compilers use inp, outp for inportb, outportb */
#define inp(portid) inportb(portid)
#define outp(portid,v) outportb(portid,v)
/*extern unsigned _Cdecl _ovrbuffer;
#if !__STDC__
int cdecl far _OvrInitEms( unsigned __emsHandle, unsigned __emsFirst, unsigned __emsPages );
int cdecl far _OvrInitExt( unsigned long __extStart, unsigned long __extLength );
char far *cdecl getdta(void);
void cdecl setdta(char far *__dta);
#define MK_FP(seg, ofs) ((void _seg *)(seg) + (void near *)(ofs))
#define FP_SEG(fp) ((unsigned)(void _seg *)(void far *)(fp))
#define FP_OFF(fp) ((unsigned)(fp))
#ifdef __cplusplus
void interrupt (far * _CType getvect(int __interruptno)) (...);
void _CType setvect (int __interruptno, void interrupt (far *__isr) (...));
int inline _Cdecl peek(unsigned __segment, unsigned __offset)
{ return (*((int far*)MK_FP(__segment, __offset))); }
char inline _Cdecl peekb(unsigned __segment, unsigned __offset)
{ return (*((char far*)MK_FP(__segment, __offset))); }
void inline _Cdecl poke(unsigned __segment, unsigned __offset, int __value)
{ (*((int far*)MK_FP(__segment, __offset)) = __value); }
void inline _Cdecl pokeb(unsigned __segment, unsigned __offset, char __value)
{ (*((char far*)MK_FP(__segment, __offset)) = __value); }
#else
void interrupt (far * _CType getvect(int __interruptno)) ();
void _CType setvect (int __interruptno, void interrupt (far *__isr) ());
#define peek(a,b) (*((int far*)MK_FP((a),(b))))
#define peekb(a,b) (*((char far*)MK_FP((a),(b))))
#define poke(a,b,c) (*((int far*)MK_FP((a),(b))) = (int)(c))
#define pokeb(a,b,c) (*((char far*)MK_FP((a),(b))) = (char)(c))
#endif
#endif
#ifdef __cplusplus
}
#endif*/
#endif
When i try to make a EXE file, it prompt mi 2 linker errors which are:
Linker Error: Undefined Symbol _Calculate_Map in module DESSY2.CPP
Linker Error: Undefined Symbol _SpotTurnAngleCalculate in module DESSY2.CPP
Can anyone point out where i have done wrong ?
Grateful for any help~ |
25-Mar-2007, 23:51
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