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help with mplab errors

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Eng_MC

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hi i am using mplab to write up a code in C using the High-tech C compiler when i compile i get an error about using _delay_us in my code please can anyone help
 

#include <pic.h>
#define stepcnt 100 //max number of steps


void Run_Motor1(void);
void Run_Motor2(void);
void Accel_Motor1(void);
void Deccel_Motor1(void);
void Accel_Motor2(void);
void Deccel_Motor2(void);

void main(void)
{
TRISA = 0xFF; //SET PORT A AS INPUT
PORTA = 0; //INITIALISE PORTA AS 0

TRISB = 0xFF; //SET PORT B AS INPUT PORT
PORTB = 0; //INITIALISE PORT B AS 0

TRISC = 0xFF; //SET PORT C AS AN OUTPUT PORT

Run_Motor1();


}

void Run_Motor1(void) //function to run motor 1 at constant speed
{
int b;
PORTC = 0x32; //light up led to indicate motor 1 is active and wait for the step signal
delay_us(150);

for(b=0;b<=stepcnt;b++) //loop to step 100 times running motor1
{
PORTC = 0x32;
delay_us(150);
PORTC= 0x33;
delay_us(50);
}
}

void Run_Motor2(void) //function to run motor 2 at constant speed
{
int d;
PORTC = 0x52; //turn on led to indicate motor 2 is about to start running and wait for the step signal
delay_us(15);

for(d=0;d<=stepcnt;d++) //loop to run motor 2 for 100 steps
{
PORTC = 0x52;
delay_us(15);
PORTC = 0x56;
delay_us(5);
}
}

void Accel_Motor1(void) //function to accelerate motor 1
{
int x;
PORTC= 0x32; //delay tables to accelerate motor 1
delay_us(25);
PORTC = 0x33;
delay_us(5);
PORTC = 0x32;
delay_us(20);
PORTC = 0x33;
delay_us(5);
PORTC = 0x32;
delay_us(15);
PORTC = 0x33;
delay_us(5);
PORTC = 0x32;
delay_us(10);
PORTC = 0x33;
delay_us(5);
PORTC = 0x32;
delay_us(5);
PORTC = 0x33;

for(x=0;x<=stepcnt;x++) //loop to maintain final speeed after delay table implementation for 100 steps
{
PORTC = 0x32;
delay_us(5);
PORTC = 0x33;
delay_us(5);
}
}

void Deccel_Motor1(void) //function to decelerate motor 1
{
int y;
PORTC = 0x32; //delay tables to decelerate motor 1
delay_us(5);
PORTC = 0x33;
delay_us(5);
PORTC = 0x32;
delay_us(10);
PORTC = 0x33;
delay_us(5);
PORTC= 0x32;
delay_us(15);
PORTC = 0x33;
delay_us(5);
PORTC= 0x32;
delay_us(20);
PORTC= 0x33;
delay_us(5);
PORTC= 0x32;
delay_us(25);
PORTC = 0x33;

for(y=0;y<=stepcnt;y++) //loop to maintain final speed after deceleration table implentation
{
PORTC = 0x32;
delay_us(25);
PORTC = 0x33;
delay_us(25);
}
}

void Accel_Motor2(void) //function to accelerate motor 2
{
int m;
PORTC= 0x52; //delay tables to accelerate motor two
delay_us(25);
PORTC = 0x56;
delay_us(5);
PORTC = 0x52;
delay_us(20);
PORTC = 0x56;
delay_us(5);
PORTC = 0x52;
delay_us(15);
PORTC = 0x56;
delay_us(5);
PORTC = 0x52;
delay_us(10);
PORTC = 0x56;
delay_us(5);
PORTC = 0x52;

for(m=0;m<=stepcnt;m++) //loop to maintain final speeed after delay table implementation for 100 steps
{
PORTC = 0x32;
delay_us(5);
PORTC = 0x33;
delay_us(5);
}
}

void Deccel_Motor2(void)
{
int n;
PORTC = 0x52; //delay tables to decelerate motor 2
delay_us(5);
PORTC = 0x56;
delay_us(5);
PORTC = 0x52;
delay_us(10);
PORTC = 0x56;
delay_us(5);
PORTC= 0x52;
delay_us(15);
PORTC = 0x56;
delay_us(5);
PORTC= 0x52;
delay_us(20);
PORTC= 0x56;
delay_us(5);
PORTC= 0x52;
delay_us(25);
PORTC = 0x56;

for(n=0;n<=stepcnt;n++) //loop to maintain final speed after deceleration table implentation
{
PORTC = 0x32;
delay_us(25);
PORTC = 0x33;
delay_us(25);
}
}

---------- Post added at 20:38 ---------- Previous post was at 20:33 ----------

the code is to run 2 stepper motors using a PIC16F690 and l297 stepper motor controller with quad darlington arrays.
 

use delay macro "__delay_us(z);"
where z is any integer. but for this you have to specify the crystal frequency. it this case 4MHz is selected. Below is the code with no error; successful compilation.

Code: 
#include <htc.h>
#include <pic.h>
#define stepcnt 100 //max number of steps
#define _XTAL_FREQ 4000000

void Run_Motor1(void);
void Run_Motor2(void);
void Accel_Motor1(void);
void Deccel_Motor1(void);
void Accel_Motor2(void);
void Deccel_Motor2(void);

void main(void)
{
TRISA = 0xFF; //SET PORT A AS INPUT
PORTA = 0; //INITIALISE PORTA AS 0

TRISB = 0xFF; //SET PORT B AS INPUT PORT
PORTB = 0; //INITIALISE PORT B AS 0

TRISC = 0xFF; //SET PORT C AS AN OUTPUT PORT

Run_Motor1();


}

void Run_Motor1(void) //function to run motor 1 at constant speed
{
int b;
PORTC = 0x32; //light up led to indicate motor 1 is active and wait for the step signal
__delay_us(150);

for(b=0;b<=stepcnt;b++) //loop to step 100 times running motor1
{
PORTC = 0x32;
__delay_us(150);
PORTC= 0x33;
__delay_us(50);
}
}

void Run_Motor2(void) //function to run motor 2 at constant speed
{
int d;
PORTC = 0x52; //turn on led to indicate motor 2 is about to start running and wait for the step signal
__delay_us(15);

for(d=0;d<=stepcnt;d++) //loop to run motor 2 for 100 steps
{
PORTC = 0x52;
__delay_us(15);
PORTC = 0x56;
__delay_us(5);
}
}

void Accel_Motor1(void) //function to accelerate motor 1
{
int x;
PORTC= 0x32; //delay tables to accelerate motor 1
__delay_us(25);
PORTC = 0x33;
__delay_us(5);
PORTC = 0x32;
__delay_us(20);
PORTC = 0x33;
__delay_us(5);
PORTC = 0x32;
__delay_us(15);
PORTC = 0x33;
__delay_us(5);
PORTC = 0x32;
__delay_us(10);
PORTC = 0x33;
__delay_us(5);
PORTC = 0x32;
__delay_us(5);
PORTC = 0x33;

for(x=0;x<=stepcnt;x++) //loop to maintain final speeed after delay table implementation for 100 steps
{
PORTC = 0x32;
__delay_us(5);
PORTC = 0x33;
__delay_us(5);
}
}

void Deccel_Motor1(void) //function to decelerate motor 1
{
int y;
PORTC = 0x32; //delay tables to decelerate motor 1
__delay_us(5);
PORTC = 0x33;
__delay_us(5);
PORTC = 0x32;
__delay_us(10);
PORTC = 0x33;
__delay_us(5);
PORTC= 0x32;
__delay_us(15);
PORTC = 0x33;
__delay_us(5);
PORTC= 0x32;
__delay_us(20);
PORTC= 0x33;
__delay_us(5);
PORTC= 0x32;
__delay_us(25);
PORTC = 0x33;

for(y=0;y<=stepcnt;y++) //loop to maintain final speed after deceleration table implentation
{
PORTC = 0x32;
__delay_us(25);
PORTC = 0x33;
__delay_us(25);
}
}

void Accel_Motor2(void) //function to accelerate motor 2
{
int m;
PORTC= 0x52; //delay tables to accelerate motor two
__delay_us(25);
PORTC = 0x56;
__delay_us(5);
PORTC = 0x52;
__delay_us(20);
PORTC = 0x56;
__delay_us(5);
PORTC = 0x52;
__delay_us(15);
PORTC = 0x56;
__delay_us(5);
PORTC = 0x52;
__delay_us(10);
PORTC = 0x56;
__delay_us(5);
PORTC = 0x52;

for(m=0;m<=stepcnt;m++) //loop to maintain final speeed after delay table implementation for 100 steps
{
PORTC = 0x32;
__delay_us(5);
PORTC = 0x33;
__delay_us(5);
}
}

void Deccel_Motor2(void)
{
int n;
PORTC = 0x52; //delay tables to decelerate motor 2
__delay_us(5);
PORTC = 0x56;
__delay_us(5);
PORTC = 0x52;
__delay_us(10);
PORTC = 0x56;
__delay_us(5);
PORTC= 0x52;
__delay_us(15);
PORTC = 0x56;
__delay_us(5);
PORTC= 0x52;
__delay_us(20);
PORTC= 0x56;
__delay_us(5);
PORTC= 0x52;
__delay_us(25);
PORTC = 0x56;

for(n=0;n<=stepcnt;n++) //loop to maintain final speed after deceleration table implentation
{
PORTC = 0x32;
__delay_us(25);
PORTC = 0x33;
__delay_us(25);
}
}
 
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    Eng_MC

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thanks alot malik_zohaib
 

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