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imu problem in reading values.

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rajesh1987

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hi
Im trying to read values from IMU sensor , but while trying to compile it shows error, while clicking any error it always goes to #include <18f4550.h> line..

the error occurring while compiling are
Executing: "C:\Program files\Picc\CCSC.exe" +FH "imuwork.c" +DF +LN +T +A +M +Z +Y=9 +EA
*** Error 7 "imuwork.c" Line 1(0,1): Invalid Pre-Processor directive
*** Error 1 "imuwork.c" Line 1(0,1): Illegal C character in input file 0x00
*** Error 128 "imuwork.c" Line 1(0,1): A #DEVICE required before this line
*** "imuwork.c" Line 1: Error #1: Illegal C character in input file 0x00
*** "imuwork.c" Line 1: Error #48: Expecting a (
*** "imuwork.c" Line 1: Error #1: Illegal C character in input file 0x00
6 Errors, 0 Warnings.

my code is
Code:
#include <18F4550.h>
#fuses NOWDT,HS,NOPROTECT,NOLVP 
//#fuses HS,MCLR,NOWDT,NOPROTECT,NOLVP,USBDIV,PLL5,CPUDIV1,VREGEN
#use delay(clock=4000000)
#use i2c(Master,sda=PIN_B0,scl=PIN_B1)
#include<lcd.c>
#define LCD_ENABLE_PIN PIN_C2
#define LCD_RS_PIN PIN_C0
#define LCD_RW_PIN PIN_C1
#define DATA_PORT  PORTD
//#include<lcd.c>
//#include <imu.C> 



#define L3G_DEVICE_AUTO 0
#define L3G4200D_DEVICE 1
#define L3GD20_DEVICE   2

// SA0 states

#define L3G_SA0_LOW  0
#define L3G_SA0_HIGH 1
#define L3G_SA0_AUTO 2

// register addresses
#define gyro_ADD_W  0b11010110
#define gyro_ADD_R  0b11010111


#define L3G_WHO_AM_I      0x0F

#define L3G_CTRL_REG1     0x20
#define L3G_CTRL_REG2     0x21
#define L3G_CTRL_REG3     0x22
#define L3G_CTRL_REG4     0x23
#define L3G_CTRL_REG5     0x24
#define L3G_REFERENCE     0x25
#define L3G_OUT_TEMP      0x26
#define L3G_STATUS_REG    0x27

#define L3G_OUT_X_L       0x28
#define L3G_OUT_X_H       0x29
#define L3G_OUT_Y_L       0x2A
#define L3G_OUT_Y_H       0x2B
#define L3G_OUT_Z_L       0x2C
#define L3G_OUT_Z_H       0x2D

#define L3G_FIFO_CTRL_REG 0x2E
#define L3G_FIFO_SRC_REG  0x2F

#define L3G_INT1_CFG      0x30
#define L3G_INT1_SRC      0x31
#define L3G_INT1_THS_XH   0x32
#define L3G_INT1_THS_XL   0x33
#define L3G_INT1_THS_YH   0x34
#define L3G_INT1_THS_YL   0x35
#define L3G_INT1_THS_ZH   0x36
#define L3G_INT1_THS_ZL   0x37
#define L3G_INT1_DURATION 0x38


#define LSM303DLH_DEVICE   0
#define LSM303DLM_DEVICE   1
#define LSM303DLHC_DEVICE  2
#define LSM303_DEVICE_AUTO 3

// SA0_A states

#define LSM303_SA0_A_LOW  0
#define LSM303_SA0_A_HIGH 1
#define LSM303_SA0_A_AUTO 2


// register addresses

#define acce_ADD_W 0b00110010
#define acce_ADD_R 0b00110011

#define LSM303_CTRL_REG1_A       0x20
#define LSM303_CTRL_REG2_A       0x21
#define LSM303_CTRL_REG3_A       0x22
#define LSM303_CTRL_REG4_A       0x23
#define LSM303_CTRL_REG5_A       0x24
#define LSM303_CTRL_REG6_A       0x25  
#define LSM303_REFERENCE_A       0x26
#define LSM303_STATUS_REG_A      0x27

#define LSM303_OUT_X_L_A         0x28
#define LSM303_OUT_X_H_A         0x29
#define LSM303_OUT_Y_L_A         0x2A
#define LSM303_OUT_Y_H_A         0x2B
#define LSM303_OUT_Z_L_A         0x2C
#define LSM303_OUT_Z_H_A         0x2D
#define LSM303_FIFO_CTRL_REG_A   0x2E 
#define LSM303_FIFO_SRC_REG_A    0x2F 

#define LSM303_INT1_CFG_A        0x30
#define LSM303_INT1_SRC_A        0x31
#define LSM303_INT1_THS_A        0x32
#define LSM303_INT1_DURATION_A   0x33
#define LSM303_INT2_CFG_A        0x34
#define LSM303_INT2_SRC_A        0x35
#define LSM303_INT2_THS_A        0x36
#define LSM303_INT2_DURATION_A   0x37 
#define LSM303_CLICK_CFG_A       0x38 
#define LSM303_CLICK_SRC_A       0x39 
#define LSM303_CLICK_THS_A       0x3A 
#define LSM303_TIME_LIMIT_A      0x3B 
#define LSM303_TIME_LATENCY_A    0x3C 
#define LSM303_TIME_WINDOW_A     0x3D 


#define magn_ADD_W 0b00111100
#define magn_ADD_R 0b00111101 


#define LSM303_CRA_REG_M         0x00
#define LSM303_CRB_REG_M         0x01
#define LSM303_MR_REG_M          0x02

#define LSM303_OUT_X_H_M         0x03
#define LSM303_OUT_X_L_M         0x04 
#define LSM303_OUT_Y_H_M         0x05
#define LSM303_OUT_Y_L_M         0x06
#define LSM303_OUT_Z_H_M         0x07
#define LSM303_OUT_Z_L_M         0x08
#define LSM303_SR_REG_M          0x09
#define LSM303_IRA_REG_M         0x0A
#define LSM303_IRB_REG_M         0x0B
#define LSM303_IRC_REG_M         0x0C
#define LSM303_TEMP_OUT_H_M      0x31 
#define LSM303_TEMP_OUT_L_M      0x32 







int8 konum=0, hesapH=0,hesapL=0;
signed long hesap=0;
void writeRegister(int8 reg,int8 value,int tur)
 {
    i2c_start();
    i2c_write(tur);     
    i2c_write(reg);     
    i2c_write(value);         
    i2c_stop();

 }

void init_gyro()
{   
writeRegister(L3G_CTRL_REG1,0b11101111,gyro_ADD_W);
writeRegister(L3G_CTRL_REG2,0b00000000,gyro_ADD_W);       
writeRegister(L3G_CTRL_REG4,0b0010000,gyro_ADD_W);

}

void init_acce()
{
writeRegister(LSM303_CTRL_REG1_A,0x47,acce_ADD_W);   
writeRegister(LSM303_CTRL_REG4_A,0b00101000,acce_ADD_W);

}
void init_magn()
{
writeRegister(LSM303_SR_REG_M, 0b00000001,magn_ADD_W);
writeRegister(LSM303_IRA_REG_M,0b01001000,magn_ADD_W);
writeRegister(LSM303_IRB_REG_M,0b00110100,magn_ADD_W);
writeRegister(LSM303_IRC_REG_M,0b00110011,magn_ADD_W);
writeRegister(LSM303_CRA_REG_M,0b10010000,magn_ADD_W);
writeRegister(LSM303_CRB_REG_M,0b10000000,magn_ADD_W);
writeRegister(LSM303_MR_REG_M, 0b00000000,magn_ADD_W);


}
int a;
void Hesapla_Yaz(int adresR,int adresW) //adresR=device Read adres,adresW =device write adres
{
int i;a=1;int b=0;char c;
   for ( i=40;i<46;i+=2)  //40=0x28  xHbit, 42=0x2b yHbit, 44=0x2d zHbit
   { 
    b=i;   //b=hbit, b+1=lbit. acce,gyro xHbit=0x28 xLbit=029
      if (adresR==magn_ADD_R)
      {
         konum=2;
         b=i-37;//magnetometer xLbit=3 xHbit=4,yLbit=5 yHbit=6,zHbit=7,zHbit=8
         c="m";
      }
      i2c_start();i2c_write(adresW);i2c_write(b);i2c_start();i2c_write(adresR);hesapH=i2c_read(),i2c_read(0);i2c_stop(); //hesapH=device x or y or z hbit
      i2c_start();i2c_write(adresW);i2c_write(b+1);i2c_start();i2c_write(adresR);hesapL=i2c_read(),i2c_read(0);i2c_stop(); //hesapL=device x or y or z Lbit
     
      hesap=make16(hesapH,hesapL);//hesap =long variable 
      if (adresR==acce_ADD_R)
      {
         konum=3;//lcd line
               hesap=hesap>>4; //Accelerometer: one 12-bit reading (left-justified) per axis
         c="a";
      }
      if (adresR==gyro_ADD_R)
      {
      c="g";
         konum=4;
   
      }
   	Lcd_gotoxy(konum+8, 1);
 	printf(lcd_putc,"\%c",c);
	Lcd_gotoxy(1, 1); 
	printf(lcd_putc,"satirlar=");//lcd 2x16 for konum=1 or 2
   	Lcd_gotoxy(a, konum);
 	printf(lcd_putc,"\%Ld",hesap);
   	a=a+6; //lcd row

   }
}


void main()
{
   set_tris_c(0x00);    //FE
   set_tris_D(0x00);
   
   lcd_init(); 
   printf(lcd_putc, "\f");
   lcd_gotoxy(1, 1);       
   printf(lcd_putc, "minimu9 v2");   
   
   init_gyro();
   init_acce();
   init_magn();
   lcd_init();
 
   
   
while(1)
{
   hesapla_yaz(gyro_ADD_R,gyro_ADD_W); //only gyro
   hesapla_yaz(acce_ADD_R,acce_ADD_W); //only accelometer
   init_magn(); //not work Without this.//compas for
   hesapla_yaz(magn_ADD_R,magn_ADD_W);//compas
   delay_ms(100);
   printf(lcd_putc"\f");
   
   
}

                             
 }


kindly help me to overcome this
 

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