147 lines
18 KiB
Plaintext
147 lines
18 KiB
Plaintext
[1/11] Linking C static library esp-idf\bdc_motor\libbdc_motor.a
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[2/11] Performing build step for 'bootloader'
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[1/1] cmd.exe /C "cd /D E:\Espressif\frameworks\esp-idf-v5.0.4\app\wheel\build\bootloader\esp-idf\esptool_py && E:\Espressif\python_env\idf5.0_py3.11_env\Scripts\python.exe E:/Espressif/frameworks/esp-idf-v5.0.4/components/partition_table/check_sizes.py --offset 0x8000 bootloader 0x0 E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/build/bootloader/bootloader.bin"
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Bootloader binary size 0x4f90 bytes. 0x3070 bytes (38%) free.
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[3/9] Building C object esp-idf/mcpwm_bdc_control/CMakeFiles/__idf_mcpwm_bdc_control.dir/mcpwm_bdc_control.c.obj
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FAILED: esp-idf/mcpwm_bdc_control/CMakeFiles/__idf_mcpwm_bdc_control.dir/mcpwm_bdc_control.c.obj
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ccache E:\Espressif\tools\xtensa-esp32s3-elf\esp-2022r1-11.2.0\xtensa-esp32s3-elf\bin\xtensa-esp32s3-elf-gcc.exe -DSOC_MMU_PAGE_SIZE=CONFIG_MMU_PAGE_SIZE -IE:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/build/config -IE:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/mcpwm_bdc_control -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/newlib/platform_include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/freertos/FreeRTOS-Kernel/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/freertos/esp_additions/include/freertos -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/freertos/FreeRTOS-Kernel/portable/xtensa/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/freertos/esp_additions/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/esp_hw_support/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/esp_hw_support/include/soc -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/esp_hw_support/include/soc/esp32s3 -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/esp_hw_support/port/esp32s3/. -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/esp_hw_support/port/esp32s3/private_include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/heap/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/log/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/soc/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/soc/esp32s3/. -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/soc/esp32s3/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/hal/esp32s3/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/hal/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/hal/platform_port/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/esp_rom/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/esp_rom/include/esp32s3 -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/esp_rom/esp32s3 -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/esp_common/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/esp_system/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/esp_system/port/soc -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/esp_system/port/include/private -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/xtensa/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/xtensa/esp32s3/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/lwip/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/lwip/include/apps -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/lwip/include/apps/sntp -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/lwip/lwip/src/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/lwip/port/esp32/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/lwip/port/esp32/include/arch -IE:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/bdc_motor -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/driver/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/driver/deprecated -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/driver/esp32s3/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/esp_pm/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/esp_ringbuf/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/pid_ctrl -IE:/Espressif/frameworks/esp-idf-v5.0.4/components/esp_timer/include -IE:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/modbus_tcp -mlongcalls -fdiagnostics-color=always -ffunction-sections -fdata-sections -Wall -Werror=all -Wno-error=unused-function -Wno-error=unused-variable -Wno-error=deprecated-declarations -Wextra -Wno-unused-parameter -Wno-sign-compare -Wno-enum-conversion -gdwarf-4 -ggdb -Og -fmacro-prefix-map=E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel=. -fmacro-prefix-map=E:/Espressif/frameworks/esp-idf-v5.0.4=/IDF -fstrict-volatile-bitfields -Wno-error=unused-but-set-variable -fno-jump-tables -fno-tree-switch-conversion -DconfigENABLE_FREERTOS_DEBUG_OCDAWARE=1 -std=gnu17 -Wno-old-style-declaration -D_GNU_SOURCE -DIDF_VER=\"v5.0.4-dirty\" -DESP_PLATFORM -D_POSIX_READER_WRITER_LOCKS -MD -MT esp-idf/mcpwm_bdc_control/CMakeFiles/__idf_mcpwm_bdc_control.dir/mcpwm_bdc_control.c.obj -MF esp-idf\mcpwm_bdc_control\CMakeFiles\__idf_mcpwm_bdc_control.dir\mcpwm_bdc_control.c.obj.d -o esp-idf/mcpwm_bdc_control/CMakeFiles/__idf_mcpwm_bdc_control.dir/mcpwm_bdc_control.c.obj -c E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/mcpwm_bdc_control/mcpwm_bdc_control.c
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E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/mcpwm_bdc_control/mcpwm_bdc_control.c: In function 'pid_loop_cb':
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E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/mcpwm_bdc_control/mcpwm_bdc_control.c:127:25: error: incompatible type for argument 1 of 'bdc_motor_set_speed'
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127 | bdc_motor_set_speed(*ctx, (uint32_t)new_speed);
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| ^~~~
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| |
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| motor_control_context_t
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In file included from E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/mcpwm_bdc_control/mcpwm_bdc_control.c:16:
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E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/bdc_motor/bdc_motor.h:55:50: note: expected 'bdc_motor_handle_t' {aka 'struct bdc_motor_t *'} but argument is of type 'motor_control_context_t'
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55 | esp_err_t bdc_motor_set_speed(bdc_motor_handle_t motor, uint32_t speed);
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| ~~~~~~~~~~~~~~~~~~~^~~~~
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E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/mcpwm_bdc_control/mcpwm_bdc_control.c:106:24: warning: unused variable 'motor' [-Wunused-variable]
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106 | bdc_motor_handle_t motor = ctx->motor;
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| ^~~~~
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E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/mcpwm_bdc_control/mcpwm_bdc_control.c: In function 'bdc_motor_dir_gpio_init':
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E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/mcpwm_bdc_control/mcpwm_bdc_control.c:154:50: error: 'motor_control_context_t' has no member named 'bdc_low0_gpio'
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154 | io_conf.pin_bit_mask = ((1ULL<<motor_ctrl_ctx.bdc_low0_gpio) | (1ULL<<motor_ctrl_ctx.bdc_low1_gpio));
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| ^
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E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/mcpwm_bdc_control/mcpwm_bdc_control.c:154:89: error: 'motor_control_context_t' has no member named 'bdc_low1_gpio'
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154 | io_conf.pin_bit_mask = ((1ULL<<motor_ctrl_ctx.bdc_low0_gpio) | (1ULL<<motor_ctrl_ctx.bdc_low1_gpio));
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| ^
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E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/mcpwm_bdc_control/mcpwm_bdc_control.c:159:34: error: 'motor_control_context_t' has no member named 'bdc_low0_gpio'
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159 | gpio_set_level(motor_ctrl_ctx.bdc_low0_gpio, 1);
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| ^
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E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/mcpwm_bdc_control/mcpwm_bdc_control.c:160:34: error: 'motor_control_context_t' has no member named 'bdc_low1_gpio'
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160 | gpio_set_level(motor_ctrl_ctx.bdc_low1_gpio, 1);
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| ^
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E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/mcpwm_bdc_control/mcpwm_bdc_control.c:146:54: error: parameter 'motor_ctrl_ctx' set but not used [-Werror=unused-but-set-parameter]
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146 | void bdc_motor_dir_gpio_init(motor_control_context_t motor_ctrl_ctx)
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| ~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~
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E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/mcpwm_bdc_control/mcpwm_bdc_control.c: In function 'bdc_motor_init_all':
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E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/mcpwm_bdc_control/mcpwm_bdc_control.c:289:10: error: 'motor_control_context_t' has no member named 'bdc_low0_gpio'
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289 | .bdc_low0_gpio = BDC_CH1_LOW0_GPIO,
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| ^~~~~~~~~~~~~
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E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/mcpwm_bdc_control/mcpwm_bdc_control.c:34:27: warning: excess elements in struct initializer
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34 | #define BDC_CH1_LOW0_GPIO 1
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| ^
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E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/mcpwm_bdc_control/mcpwm_bdc_control.c:289:26: note: in expansion of macro 'BDC_CH1_LOW0_GPIO'
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289 | .bdc_low0_gpio = BDC_CH1_LOW0_GPIO,
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| ^~~~~~~~~~~~~~~~~
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E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/mcpwm_bdc_control/mcpwm_bdc_control.c:34:27: note: (near initialization for 'motor_ctrl_ctxl')
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34 | #define BDC_CH1_LOW0_GPIO 1
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| ^
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E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/mcpwm_bdc_control/mcpwm_bdc_control.c:289:26: note: in expansion of macro 'BDC_CH1_LOW0_GPIO'
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289 | .bdc_low0_gpio = BDC_CH1_LOW0_GPIO,
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| ^~~~~~~~~~~~~~~~~
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E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/mcpwm_bdc_control/mcpwm_bdc_control.c:290:10: error: 'motor_control_context_t' has no member named 'bdc_low1_gpio'
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290 | .bdc_low1_gpio = BDC_CH1_LOW1_GPIO,
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| ^~~~~~~~~~~~~
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E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/mcpwm_bdc_control/mcpwm_bdc_control.c:36:27: warning: excess elements in struct initializer
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36 | #define BDC_CH1_LOW1_GPIO 3
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| ^
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E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/mcpwm_bdc_control/mcpwm_bdc_control.c:290:26: note: in expansion of macro 'BDC_CH1_LOW1_GPIO'
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290 | .bdc_low1_gpio = BDC_CH1_LOW1_GPIO,
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| ^~~~~~~~~~~~~~~~~
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E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/mcpwm_bdc_control/mcpwm_bdc_control.c:36:27: note: (near initialization for 'motor_ctrl_ctxl')
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36 | #define BDC_CH1_LOW1_GPIO 3
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| ^
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E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/mcpwm_bdc_control/mcpwm_bdc_control.c:290:26: note: in expansion of macro 'BDC_CH1_LOW1_GPIO'
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290 | .bdc_low1_gpio = BDC_CH1_LOW1_GPIO,
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| ^~~~~~~~~~~~~~~~~
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E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/mcpwm_bdc_control/mcpwm_bdc_control.c:305:10: error: 'motor_control_context_t' has no member named 'bdc_low0_gpio'
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305 | .bdc_low0_gpio = BDC_CH0_LOW0_GPIO,
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| ^~~~~~~~~~~~~
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E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/mcpwm_bdc_control/mcpwm_bdc_control.c:40:27: warning: excess elements in struct initializer
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40 | #define BDC_CH0_LOW0_GPIO 7
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| ^
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E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/mcpwm_bdc_control/mcpwm_bdc_control.c:305:26: note: in expansion of macro 'BDC_CH0_LOW0_GPIO'
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305 | .bdc_low0_gpio = BDC_CH0_LOW0_GPIO,
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| ^~~~~~~~~~~~~~~~~
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E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/mcpwm_bdc_control/mcpwm_bdc_control.c:40:27: note: (near initialization for 'motor_ctrl_ctxr')
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40 | #define BDC_CH0_LOW0_GPIO 7
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| ^
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E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/mcpwm_bdc_control/mcpwm_bdc_control.c:305:26: note: in expansion of macro 'BDC_CH0_LOW0_GPIO'
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305 | .bdc_low0_gpio = BDC_CH0_LOW0_GPIO,
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| ^~~~~~~~~~~~~~~~~
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E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/mcpwm_bdc_control/mcpwm_bdc_control.c:306:10: error: 'motor_control_context_t' has no member named 'bdc_low1_gpio'
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306 | .bdc_low1_gpio = BDC_CH0_LOW1_GPIO,
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| ^~~~~~~~~~~~~
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E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/mcpwm_bdc_control/mcpwm_bdc_control.c:42:27: warning: excess elements in struct initializer
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42 | #define BDC_CH0_LOW1_GPIO 9
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| ^
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E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/mcpwm_bdc_control/mcpwm_bdc_control.c:306:26: note: in expansion of macro 'BDC_CH0_LOW1_GPIO'
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306 | .bdc_low1_gpio = BDC_CH0_LOW1_GPIO,
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| ^~~~~~~~~~~~~~~~~
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E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/mcpwm_bdc_control/mcpwm_bdc_control.c:42:27: note: (near initialization for 'motor_ctrl_ctxr')
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42 | #define BDC_CH0_LOW1_GPIO 9
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| ^
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E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/mcpwm_bdc_control/mcpwm_bdc_control.c:306:26: note: in expansion of macro 'BDC_CH0_LOW1_GPIO'
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306 | .bdc_low1_gpio = BDC_CH0_LOW1_GPIO,
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| ^~~~~~~~~~~~~~~~~
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In file included from E:/Espressif/frameworks/esp-idf-v5.0.4/components/esp_hw_support/include/esp_intr_alloc.h:11,
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from E:/Espressif/frameworks/esp-idf-v5.0.4/components/esp_hw_support/include/esp_cpu.h:20,
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from E:/Espressif/frameworks/esp-idf-v5.0.4/components/esp_hw_support/include/spinlock.h:11,
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from E:/Espressif/frameworks/esp-idf-v5.0.4/components/freertos/FreeRTOS-Kernel/portable/xtensa/include/freertos/portmacro.h:74,
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from E:/Espressif/frameworks/esp-idf-v5.0.4/components/freertos/FreeRTOS-Kernel/include/freertos/portable.h:58,
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from E:/Espressif/frameworks/esp-idf-v5.0.4/components/freertos/FreeRTOS-Kernel/include/freertos/FreeRTOS.h:70,
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from E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/mcpwm_bdc_control/mcpwm_bdc_control.c:9:
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E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/mcpwm_bdc_control/mcpwm_bdc_control.c:319:38: error: incompatible type for argument 1 of 'bdc_motor_enable'
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319 | ESP_ERROR_CHECK(bdc_motor_enable(motor_ctrl_ctxl)); //启动电机
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| ^~~~~~~~~~~~~~~
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| |
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| motor_control_context_t
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E:/Espressif/frameworks/esp-idf-v5.0.4/components/esp_common/include/esp_err.h:117:30: note: in definition of macro 'ESP_ERROR_CHECK'
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117 | esp_err_t err_rc_ = (x); \
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| ^
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In file included from E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/mcpwm_bdc_control/mcpwm_bdc_control.c:16:
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E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/bdc_motor/bdc_motor.h:30:47: note: expected 'bdc_motor_handle_t' {aka 'struct bdc_motor_t *'} but argument is of type 'motor_control_context_t'
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30 | esp_err_t bdc_motor_enable(bdc_motor_handle_t motor);
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| ~~~~~~~~~~~~~~~~~~~^~~~~
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In file included from E:/Espressif/frameworks/esp-idf-v5.0.4/components/esp_hw_support/include/esp_intr_alloc.h:11,
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from E:/Espressif/frameworks/esp-idf-v5.0.4/components/esp_hw_support/include/esp_cpu.h:20,
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from E:/Espressif/frameworks/esp-idf-v5.0.4/components/esp_hw_support/include/spinlock.h:11,
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from E:/Espressif/frameworks/esp-idf-v5.0.4/components/freertos/FreeRTOS-Kernel/portable/xtensa/include/freertos/portmacro.h:74,
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from E:/Espressif/frameworks/esp-idf-v5.0.4/components/freertos/FreeRTOS-Kernel/include/freertos/portable.h:58,
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from E:/Espressif/frameworks/esp-idf-v5.0.4/components/freertos/FreeRTOS-Kernel/include/freertos/FreeRTOS.h:70,
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from E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/mcpwm_bdc_control/mcpwm_bdc_control.c:9:
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E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/mcpwm_bdc_control/mcpwm_bdc_control.c:320:39: error: incompatible type for argument 1 of 'bdc_motor_forward'
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320 | ESP_ERROR_CHECK(bdc_motor_forward(motor_ctrl_ctxl)); //电机正转
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| ^~~~~~~~~~~~~~~
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| |
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| motor_control_context_t
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E:/Espressif/frameworks/esp-idf-v5.0.4/components/esp_common/include/esp_err.h:117:30: note: in definition of macro 'ESP_ERROR_CHECK'
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117 | esp_err_t err_rc_ = (x); \
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| ^
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In file included from E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/mcpwm_bdc_control/mcpwm_bdc_control.c:16:
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E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/bdc_motor/bdc_motor.h:66:48: note: expected 'bdc_motor_handle_t' {aka 'struct bdc_motor_t *'} but argument is of type 'motor_control_context_t'
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66 | esp_err_t bdc_motor_forward(bdc_motor_handle_t motor);
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| ~~~~~~~~~~~~~~~~~~~^~~~~
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E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/mcpwm_bdc_control/mcpwm_bdc_control.c:322:25: error: incompatible type for argument 1 of 'bdc_motor_set_speed'
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322 | bdc_motor_set_speed(motor_ctrl_ctxl, 100); // test
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| ^~~~~~~~~~~~~~~
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| motor_control_context_t
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In file included from E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/mcpwm_bdc_control/mcpwm_bdc_control.c:16:
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E:/Espressif/frameworks/esp-idf-v5.0.4/app/wheel/components/bdc_motor/bdc_motor.h:55:50: note: expected 'bdc_motor_handle_t' {aka 'struct bdc_motor_t *'} but argument is of type 'motor_control_context_t'
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55 | esp_err_t bdc_motor_set_speed(bdc_motor_handle_t motor, uint32_t speed);
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| ~~~~~~~~~~~~~~~~~~~^~~~~
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cc1.exe: some warnings being treated as errors
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ninja: build stopped: subcommand failed.
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