Including C++ library in C project?

[angel]

Hi Nordic,

I want to include this library (github.com/.../MPU6050.cpp) in my project, which is an evolution from ant_ broadcast example, in C. However, and after reading several related posts, I am not able to compile my project when I add this library. Can anyone give me some support with this? Otherwise I would have to re-write the whole library in C, and this task is not an easy one..

Thanks a lot for your help!

EDIT: I can properly do, with my own C library, reads of all the registers in MPU6050. What I cannot do is use the DMP at all, and I want the acceleration with no gravity, which can only be done if you mix data from accelerometer and gyroscope and do some kind of filtering. The DMP does it internally, but the library I referred to is needed.

[angel]

I am getting like 37 errors. Ill paste everything here so you guys can see:

*** Using Compiler 'V5.06 update 4 (build 422)', folder: 'F:\Programs\ARM\ARMCC\Bin' Rebuild target 'nrf51422_xxac' compiling ant_stack_config.c... compiling ant_channel_config.c... compiling nrf_delay.c... compiling nrf_drv_common.c... compiling nrf_drv_gpiote.c... compiling bsp.c... compiling main.c... ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(438): error: #20: identifier "class" is undefined class MPU6050 { ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(438): error: #65: expected a ";" class MPU6050 { ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(461): warning: #12-D: parsing restarts here after previous syntax error uint8_t getFullScaleGyroRange(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(465): warning: #1295-D: Deprecated declaration getAccelXSelfTestFactoryTrim - give arg types uint8_t getAccelXSelfTestFactoryTrim(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(466): warning: #1295-D: Deprecated declaration getAccelYSelfTestFactoryTrim - give arg types uint8_t getAccelYSelfTestFactoryTrim(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(467): warning: #1295-D: Deprecated declaration getAccelZSelfTestFactoryTrim - give arg types uint8_t getAccelZSelfTestFactoryTrim(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(469): warning: #1295-D: Deprecated declaration getGyroXSelfTestFactoryTrim - give arg types uint8_t getGyroXSelfTestFactoryTrim(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(470): warning: #1295-D: Deprecated declaration getGyroYSelfTestFactoryTrim - give arg types uint8_t getGyroYSelfTestFactoryTrim(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(471): warning: #1295-D: Deprecated declaration getGyroZSelfTestFactoryTrim - give arg types uint8_t getGyroZSelfTestFactoryTrim(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(474): warning: #1295-D: Deprecated declaration getAccelXSelfTest - give arg types

ool getAccelXSelfTest(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(476): warning: #1295-D: Deprecated declaration getAccelYSelfTest - give arg types

ool getAccelYSelfTest(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(478): warning: #1295-D: Deprecated declaration getAccelZSelfTest - give arg types

ool getAccelZSelfTest(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(480): warning: #1295-D: Deprecated declaration getFullScaleAccelRange - give arg types uint8_t getFullScaleAccelRange(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(482): warning: #1295-D: Deprecated declaration getDHPFMode - give arg types uint8_t getDHPFMode(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(486): warning: #1295-D: Deprecated declaration getFreefallDetectionThreshold - give arg types uint8_t getFreefallDetectionThreshold(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(490): warning: #1295-D: Deprecated declaration getFreefallDetectionDuration - give arg types uint8_t getFreefallDetectionDuration(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(494): warning: #1295-D: Deprecated declaration getMotionDetectionThreshold - give arg types uint8_t getMotionDetectionThreshold(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(498): warning: #1295-D: Deprecated declaration getMotionDetectionDuration - give arg types uint8_t getMotionDetectionDuration(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(502): warning: #1295-D: Deprecated declaration getZeroMotionDetectionThreshold - give arg types uint8_t getZeroMotionDetectionThreshold(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(506): warning: #1295-D: Deprecated declaration getZeroMotionDetectionDuration - give arg types uint8_t getZeroMotionDetectionDuration(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(510): warning: #1295-D: Deprecated declaration getTempFIFOEnabled - give arg types

ool getTempFIFOEnabled(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(512): warning: #1295-D: Deprecated declaration getXGyroFIFOEnabled - give arg types

ool getXGyroFIFOEnabled(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(514): warning: #1295-D: Deprecated declaration getYGyroFIFOEnabled - give arg types

ool getYGyroFIFOEnabled(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(516): warning: #1295-D: Deprecated declaration getZGyroFIFOEnabled - give arg types

ool getZGyroFIFOEnabled(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(518): warning: #1295-D: Deprecated declaration getAccelFIFOEnabled - give arg types

ool getAccelFIFOEnabled(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(520): warning: #1295-D: Deprecated declaration getSlave2FIFOEnabled - give arg types

ool getSlave2FIFOEnabled(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(522): warning: #1295-D: Deprecated declaration getSlave1FIFOEnabled - give arg types

ool getSlave1FIFOEnabled(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(524): warning: #1295-D: Deprecated declaration getSlave0FIFOEnabled - give arg types

ool getSlave0FIFOEnabled(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(528): warning: #1295-D: Deprecated declaration getMultiMasterEnabled - give arg types

ool getMultiMasterEnabled(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(530): warning: #1295-D: Deprecated declaration getWaitForExternalSensorEnabled - give arg types

ool getWaitForExternalSensorEnabled(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(532): warning: #1295-D: Deprecated declaration getSlave3FIFOEnabled - give arg types

ool getSlave3FIFOEnabled(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(534): warning: #1295-D: Deprecated declaration getSlaveReadWriteTransitionEnabled - give arg types

ool getSlaveReadWriteTransitionEnabled(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(536): warning: #1295-D: Deprecated declaration getMasterClockSpeed - give arg types uint8_t getMasterClockSpeed(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(556): warning: #1295-D: Deprecated declaration getSlave4Address - give arg types uint8_t getSlave4Address(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(558): warning: #1295-D: Deprecated declaration getSlave4Register - give arg types uint8_t getSlave4Register(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(561): warning: #1295-D: Deprecated declaration getSlave4Enabled - give arg types

ool getSlave4Enabled(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(563): warning: #1295-D: Deprecated declaration getSlave4InterruptEnabled - give arg types

ool getSlave4InterruptEnabled(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(565): warning: #1295-D: Deprecated declaration getSlave4WriteMode - give arg types

ool getSlave4WriteMode(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(567): warning: #1295-D: Deprecated declaration getSlave4MasterDelay - give arg types uint8_t getSlave4MasterDelay(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(569): warning: #1295-D: Deprecated declaration getSlate4InputByte - give arg types uint8_t getSlate4InputByte(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(572): warning: #1295-D: Deprecated declaration getPassthroughStatus - give arg types

ool getPassthroughStatus(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(573): warning: #1295-D: Deprecated declaration getSlave4IsDone - give arg types

ool getSlave4IsDone(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(574): warning: #1295-D: Deprecated declaration getLostArbitration - give arg types

ool getLostArbitration(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(575): warning: #1295-D: Deprecated declaration getSlave4Nack - give arg types

ool getSlave4Nack(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(576): warning: #1295-D: Deprecated declaration getSlave3Nack - give arg types

ool getSlave3Nack(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(577): warning: #1295-D: Deprecated declaration getSlave2Nack - give arg types

ool getSlave2Nack(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(578): warning: #1295-D: Deprecated declaration getSlave1Nack - give arg types

ool getSlave1Nack(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(579): warning: #1295-D: Deprecated declaration getSlave0Nack - give arg types

ool getSlave0Nack(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(582): warning: #1295-D: Deprecated declaration getInterruptMode - give arg types

ool getInterruptMode(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(584): warning: #1295-D: Deprecated declaration getInterruptDrive - give arg types

ool getInterruptDrive(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(586): warning: #1295-D: Deprecated declaration getInterruptLatch - give arg types

ool getInterruptLatch(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(588): warning: #1295-D: Deprecated declaration getInterruptLatchClear - give arg types

ool getInterruptLatchClear(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(590): warning: #1295-D: Deprecated declaration getFSyncInterruptLevel - give arg types

ool getFSyncInterruptLevel(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(592): warning: #1295-D: Deprecated declaration getFSyncInterruptEnabled - give arg types

ool getFSyncInterruptEnabled(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(594): warning: #1295-D: Deprecated declaration getI2CBypassEnabled - give arg types

ool getI2CBypassEnabled(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(596): warning: #1295-D: Deprecated declaration getClockOutputEnabled - give arg types

ool getClockOutputEnabled(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(600): warning: #1295-D: Deprecated declaration getIntEnabled - give arg types uint8_t getIntEnabled(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(602): warning: #1295-D: Deprecated declaration getIntFreefallEnabled - give arg types

ool getIntFreefallEnabled(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(604): warning: #1295-D: Deprecated declaration getIntMotionEnabled - give arg types

ool getIntMotionEnabled(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(606): warning: #1295-D: Deprecated declaration getIntZeroMotionEnabled - give arg types

ool getIntZeroMotionEnabled(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(608): warning: #1295-D: Deprecated declaration getIntFIFOBufferOverflowEnabled - give arg types

ool getIntFIFOBufferOverflowEnabled(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(610): warning: #1295-D: Deprecated declaration getIntI2CMasterEnabled - give arg types

ool getIntI2CMasterEnabled(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(612): warning: #1295-D: Deprecated declaration getIntDataReadyEnabled - give arg types

ool getIntDataReadyEnabled(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(616): warning: #1295-D: Deprecated declaration getIntStatus - give arg types uint8_t getIntStatus(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(617): warning: #1295-D: Deprecated declaration getIntFreefallStatus - give arg types

ool getIntFreefallStatus(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(618): warning: #1295-D: Deprecated declaration getIntMotionStatus - give arg types

ool getIntMotionStatus(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(619): warning: #1295-D: Deprecated declaration getIntZeroMotionStatus - give arg types

ool getIntZeroMotionStatus(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(620): warning: #1295-D: Deprecated declaration getIntFIFOBufferOverflowStatus - give arg types

ool getIntFIFOBufferOverflowStatus(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(621): warning: #1295-D: Deprecated declaration getIntI2CMasterStatus - give arg types

ool getIntI2CMasterStatus(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(622): warning: #1295-D: Deprecated declaration getIntDataReadyStatus - give arg types

ool getIntDataReadyStatus(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(628): warning: #1295-D: Deprecated declaration getAccelerationX - give arg types int16_t getAccelerationX(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(629): warning: #1295-D: Deprecated declaration getAccelerationY - give arg types int16_t getAccelerationY(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(630): warning: #1295-D: Deprecated declaration getAccelerationZ - give arg types int16_t getAccelerationZ(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(633): warning: #1295-D: Deprecated declaration getTemperature - give arg types int16_t getTemperature(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(637): warning: #1295-D: Deprecated declaration getRotationX - give arg types int16_t getRotationX(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(638): warning: #1295-D: Deprecated declaration getRotationY - give arg types int16_t getRotationY(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(639): warning: #1295-D: Deprecated declaration getRotationZ - give arg types int16_t getRotationZ(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(647): warning: #1295-D: Deprecated declaration getMotionStatus - give arg types uint8_t getMotionStatus(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(648): warning: #1295-D: Deprecated declaration getXNegMotionDetected - give arg types

ool getXNegMotionDetected(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(649): warning: #1295-D: Deprecated declaration getXPosMotionDetected - give arg types

ool getXPosMotionDetected(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(650): warning: #1295-D: Deprecated declaration getYNegMotionDetected - give arg types

ool getYNegMotionDetected(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(651): warning: #1295-D: Deprecated declaration getYPosMotionDetected - give arg types

ool getYPosMotionDetected(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(652): warning: #1295-D: Deprecated declaration getZNegMotionDetected - give arg types

ool getZNegMotionDetected(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(653): warning: #1295-D: Deprecated declaration getZPosMotionDetected - give arg types

ool getZPosMotionDetected(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(654): warning: #1295-D: Deprecated declaration getZeroMotionDetected - give arg types

ool getZeroMotionDetected(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(660): warning: #1295-D: Deprecated declaration getExternalShadowDelayEnabled - give arg types

ool getExternalShadowDelayEnabled(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(666): warning: #1295-D: Deprecated declaration resetGyroscopePath - give arg types void resetGyroscopePath(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(667): warning: #1295-D: Deprecated declaration resetAccelerometerPath - give arg types void resetAccelerometerPath(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(668): warning: #1295-D: Deprecated declaration resetTemperaturePath - give arg types void resetTemperaturePath(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(671): warning: #1295-D: Deprecated declaration getAccelerometerPowerOnDelay - give arg types uint8_t getAccelerometerPowerOnDelay(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(673): warning: #1295-D: Deprecated declaration getFreefallDetectionCounterDecrement - give arg types uint8_t getFreefallDetectionCounterDecrement(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(675): warning: #1295-D: Deprecated declaration getMotionDetectionCounterDecrement - give arg types uint8_t getMotionDetectionCounterDecrement(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(679): warning: #1295-D: Deprecated declaration getFIFOEnabled - give arg types

ool getFIFOEnabled(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(681): warning: #1295-D: Deprecated declaration getI2CMasterModeEnabled - give arg types

ool getI2CMasterModeEnabled(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(684): warning: #1295-D: Deprecated declaration resetFIFO - give arg types void resetFIFO(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(685): warning: #1295-D: Deprecated declaration resetI2CMaster - give arg types void resetI2CMaster(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(686): warning: #1295-D: Deprecated declaration resetSensors - give arg types void resetSensors(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(689): warning: #1295-D: Deprecated declaration reset - give arg types void reset(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(690): warning: #1295-D: Deprecated declaration getSleepEnabled - give arg types

ool getSleepEnabled(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(692): warning: #1295-D: Deprecated declaration getWakeCycleEnabled - give arg types

ool getWakeCycleEnabled(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(694): warning: #1295-D: Deprecated declaration getTempSensorEnabled - give arg types

ool getTempSensorEnabled(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(696): warning: #1295-D: Deprecated declaration getClockSource - give arg types uint8_t getClockSource(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(700): warning: #1295-D: Deprecated declaration getWakeFrequency - give arg types uint8_t getWakeFrequency(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(702): warning: #1295-D: Deprecated declaration getStandbyXAccelEnabled - give arg types

ool getStandbyXAccelEnabled(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(704): warning: #1295-D: Deprecated declaration getStandbyYAccelEnabled - give arg types

ool getStandbyYAccelEnabled(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(706): warning: #1295-D: Deprecated declaration getStandbyZAccelEnabled - give arg types

ool getStandbyZAccelEnabled(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(708): warning: #1295-D: Deprecated declaration getStandbyXGyroEnabled - give arg types

ool getStandbyXGyroEnabled(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(710): warning: #1295-D: Deprecated declaration getStandbyYGyroEnabled - give arg types

ool getStandbyYGyroEnabled(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(712): warning: #1295-D: Deprecated declaration getStandbyZGyroEnabled - give arg types

ool getStandbyZGyroEnabled(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(716): warning: #1295-D: Deprecated declaration getFIFOCount - give arg types uint16_t getFIFOCount(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(719): warning: #1295-D: Deprecated declaration getFIFOByte - give arg types uint8_t getFIFOByte(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(724): warning: #1295-D: Deprecated declaration getDeviceID - give arg types uint8_t getDeviceID(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(730): warning: #1295-D: Deprecated declaration getOTPBankValid - give arg types uint8_t getOTPBankValid(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(732): warning: #1295-D: Deprecated declaration getXGyroOffsetTC - give arg types int8_t getXGyroOffsetTC(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(736): warning: #1295-D: Deprecated declaration getYGyroOffsetTC - give arg types int8_t getYGyroOffsetTC(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(740): warning: #1295-D: Deprecated declaration getZGyroOffsetTC - give arg types int8_t getZGyroOffsetTC(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(744): warning: #1295-D: Deprecated declaration getXFineGain - give arg types int8_t getXFineGain(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(748): warning: #1295-D: Deprecated declaration getYFineGain - give arg types int8_t getYFineGain(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(752): warning: #1295-D: Deprecated declaration getZFineGain - give arg types int8_t getZFineGain(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(756): warning: #1295-D: Deprecated declaration getXAccelOffset - give arg types int16_t getXAccelOffset(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(760): warning: #1295-D: Deprecated declaration getYAccelOffset - give arg types int16_t getYAccelOffset(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(764): warning: #1295-D: Deprecated declaration getZAccelOffset - give arg types int16_t getZAccelOffset(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(768): warning: #1295-D: Deprecated declaration getXGyroOffset - give arg types int16_t getXGyroOffset(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(772): warning: #1295-D: Deprecated declaration getYGyroOffset - give arg types int16_t getYGyroOffset(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(776): warning: #1295-D: Deprecated declaration getZGyroOffset - give arg types int16_t getZGyroOffset(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(780): warning: #1295-D: Deprecated declaration getIntPLLReadyEnabled - give arg types

ool getIntPLLReadyEnabled(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(782): warning: #1295-D: Deprecated declaration getIntDMPEnabled - give arg types

ool getIntDMPEnabled(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(786): warning: #1295-D: Deprecated declaration getDMPInt5Status - give arg types

ool getDMPInt5Status(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(787): warning: #1295-D: Deprecated declaration getDMPInt4Status - give arg types

ool getDMPInt4Status(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(788): warning: #1295-D: Deprecated declaration getDMPInt3Status - give arg types

ool getDMPInt3Status(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(789): warning: #1295-D: Deprecated declaration getDMPInt2Status - give arg types

ool getDMPInt2Status(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(790): warning: #1295-D: Deprecated declaration getDMPInt1Status - give arg types

ool getDMPInt1Status(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(791): warning: #1295-D: Deprecated declaration getDMPInt0Status - give arg types

ool getDMPInt0Status(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(794): warning: #1295-D: Deprecated declaration getIntPLLReadyStatus - give arg types

ool getIntPLLReadyStatus(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(795): warning: #1295-D: Deprecated declaration getIntDMPStatus - give arg types

ool getIntDMPStatus(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(798): warning: #1295-D: Deprecated declaration getDMPEnabled - give arg types

ool getDMPEnabled(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(800): warning: #1295-D: Deprecated declaration resetDMP - give arg types void resetDMP(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(803): error: #18: expected a ")" void setMemoryBank(uint8_t bank, ool prefetchEnabled=false, bool userBank=false); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(809): warning: #1295-D: Deprecated declaration readMemoryByte - give arg types uint8_t readMemoryByte(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(811): error: #18: expected a ")" void readMemoryBlock(uint8_t *data, uint16_t dataSize, uint8_t bank=0, uint8_t address=0); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(812): error: #18: expected a ")"

ool writeMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank=0, uint8_t address=0, bool verify=true, bool useProgMem=false); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(813): error: #18: expected a ")"

ool writeProgMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank=0, uint8_t address=0, bool verify=true); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(815): error: #18: expected a ")"

ool writeDMPConfigurationSet(const uint8_t *data, uint16_t dataSize, ool useProgMem=false); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(819): warning: #1295-D: Deprecated declaration getDMPConfig1 - give arg types uint8_t getDMPConfig1(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(823): warning: #1295-D: Deprecated declaration getDMPConfig2 - give arg types uint8_t getDMPConfig2(); ....\main.c(385): warning: #223-D: function "MPU6050_getMotion6" declared implicitly MPU6050_getMotion6(&ax, &ay, &az, &gx, &gy, &gz); ....\main.c(392): warning: #177-D: variable "err_code" was declared but never referenced ret_code_t err_code; ....\main.c(559): warning: #223-D: function "MPU6050_initialize" declared implicitly MPU6050_initialize(); ....\main.c(85): warning: #177-D: variable "p_random_byte" was declared but never referenced static uint8_t * p_random_byte; ....\main.c(86): warning: #177-D: variable "random_byte" was declared but never referenced static uint8_t random_byte; ....\main.c(110): warning: #550-D: variable "payload" was set but never used static uint8_t payload[(uint8_t)8]; ....\main.c(118): warning: #177-D: function "ant_message_send" was declared but never referenced static void ant_message_send(const uint8_t CHANNEL_NUMBER, uint8_t payload) ....\main.c(139): warning: #177-D: function "flash_store_p_data" was declared but never referenced static void flash_store_p_data(void) // just in case we need it ....\main.c: 148 warnings, 10 errors compiling app_button.c... compiling nrf_assert.c... compiling nrf_drv_twi.c... compiling app_error.c... compiling softdevice_handler.c... compiling app_timer.c... assembling arm_startup_nrf51.s... compiling system_nrf51.c... compiling MPU6050.cpp... ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(438): error: #20: identifier "class" is undefined class MPU6050 { ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(438): error: #65: expected a ";" class MPU6050 { ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(461): warning: #12-D: parsing restarts here after previous syntax error uint8_t getFullScaleGyroRange(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(465): warning: #1295-D: Deprecated declaration getAccelXSelfTestFactoryTrim - give arg types uint8_t getAccelXSelfTestFactoryTrim(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(466): warning: #1295-D: Deprecated declaration getAccelYSelfTestFactoryTrim - give arg types uint8_t getAccelYSelfTestFactoryTrim(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(467): warning: #1295-D: Deprecated declaration getAccelZSelfTestFactoryTrim - give arg types uint8_t getAccelZSelfTestFactoryTrim(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(469): warning: #1295-D: Deprecated declaration getGyroXSelfTestFactoryTrim - give arg types uint8_t getGyroXSelfTestFactoryTrim(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(470): warning: #1295-D: Deprecated declaration getGyroYSelfTestFactoryTrim - give arg types uint8_t getGyroYSelfTestFactoryTrim(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(471): warning: #1295-D: Deprecated declaration getGyroZSelfTestFactoryTrim - give arg types uint8_t getGyroZSelfTestFactoryTrim(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(474): warning: #1295-D: Deprecated declaration getAccelXSelfTest - give arg types

ool getAccelXSelfTest(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(476): warning: #1295-D: Deprecated declaration getAccelYSelfTest - give arg types

ool getAccelYSelfTest(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(478): warning: #1295-D: Deprecated declaration getAccelZSelfTest - give arg types

ool getAccelZSelfTest(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(480): warning: #1295-D: Deprecated declaration getFullScaleAccelRange - give arg types uint8_t getFullScaleAccelRange(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(482): warning: #1295-D: Deprecated declaration getDHPFMode - give arg types uint8_t getDHPFMode(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(486): warning: #1295-D: Deprecated declaration getFreefallDetectionThreshold - give arg types uint8_t getFreefallDetectionThreshold(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(490): warning: #1295-D: Deprecated declaration getFreefallDetectionDuration - give arg types uint8_t getFreefallDetectionDuration(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(494): warning: #1295-D: Deprecated declaration getMotionDetectionThreshold - give arg types uint8_t getMotionDetectionThreshold(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(498): warning: #1295-D: Deprecated declaration getMotionDetectionDuration - give arg types uint8_t getMotionDetectionDuration(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(502): warning: #1295-D: Deprecated declaration getZeroMotionDetectionThreshold - give arg types uint8_t getZeroMotionDetectionThreshold(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(506): warning: #1295-D: Deprecated declaration getZeroMotionDetectionDuration - give arg types uint8_t getZeroMotionDetectionDuration(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(510): warning: #1295-D: Deprecated declaration getTempFIFOEnabled - give arg types

ool getTempFIFOEnabled(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(512): warning: #1295-D: Deprecated declaration getXGyroFIFOEnabled - give arg types

ool getXGyroFIFOEnabled(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(514): warning: #1295-D: Deprecated declaration getYGyroFIFOEnabled - give arg types

ool getYGyroFIFOEnabled(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(516): warning: #1295-D: Deprecated declaration getZGyroFIFOEnabled - give arg types

ool getZGyroFIFOEnabled(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(518): warning: #1295-D: Deprecated declaration getAccelFIFOEnabled - give arg types

ool getAccelFIFOEnabled(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(520): warning: #1295-D: Deprecated declaration getSlave2FIFOEnabled - give arg types

ool getSlave2FIFOEnabled(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(522): warning: #1295-D: Deprecated declaration getSlave1FIFOEnabled - give arg types

ool getSlave1FIFOEnabled(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(524): warning: #1295-D: Deprecated declaration getSlave0FIFOEnabled - give arg types

ool getSlave0FIFOEnabled(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(528): warning: #1295-D: Deprecated declaration getMultiMasterEnabled - give arg types

ool getMultiMasterEnabled(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(530): warning: #1295-D: Deprecated declaration getWaitForExternalSensorEnabled - give arg types

ool getWaitForExternalSensorEnabled(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(532): warning: #1295-D: Deprecated declaration getSlave3FIFOEnabled - give arg types

ool getSlave3FIFOEnabled(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(534): warning: #1295-D: Deprecated declaration getSlaveReadWriteTransitionEnabled - give arg types

ool getSlaveReadWriteTransitionEnabled(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(536): warning: #1295-D: Deprecated declaration getMasterClockSpeed - give arg types uint8_t getMasterClockSpeed(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(556): warning: #1295-D: Deprecated declaration getSlave4Address - give arg types uint8_t getSlave4Address(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(558): warning: #1295-D: Deprecated declaration getSlave4Register - give arg types uint8_t getSlave4Register(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(561): warning: #1295-D: Deprecated declaration getSlave4Enabled - give arg types

ool getSlave4Enabled(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(563): warning: #1295-D: Deprecated declaration getSlave4InterruptEnabled - give arg types

ool getSlave4InterruptEnabled(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(565): warning: #1295-D: Deprecated declaration getSlave4WriteMode - give arg types

ool getSlave4WriteMode(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(567): warning: #1295-D: Deprecated declaration getSlave4MasterDelay - give arg types uint8_t getSlave4MasterDelay(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(569): warning: #1295-D: Deprecated declaration getSlate4InputByte - give arg types uint8_t getSlate4InputByte(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(572): warning: #1295-D: Deprecated declaration getPassthroughStatus - give arg types

ool getPassthroughStatus(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(573): warning: #1295-D: Deprecated declaration getSlave4IsDone - give arg types

ool getSlave4IsDone(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(574): warning: #1295-D: Deprecated declaration getLostArbitration - give arg types

ool getLostArbitration(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(575): warning: #1295-D: Deprecated declaration getSlave4Nack - give arg types

ool getSlave4Nack(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(576): warning: #1295-D: Deprecated declaration getSlave3Nack - give arg types

ool getSlave3Nack(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(577): warning: #1295-D: Deprecated declaration getSlave2Nack - give arg types

ool getSlave2Nack(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(578): warning: #1295-D: Deprecated declaration getSlave1Nack - give arg types

ool getSlave1Nack(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(579): warning: #1295-D: Deprecated declaration getSlave0Nack - give arg types

ool getSlave0Nack(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(582): warning: #1295-D: Deprecated declaration getInterruptMode - give arg types

ool getInterruptMode(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(584): warning: #1295-D: Deprecated declaration getInterruptDrive - give arg types

ool getInterruptDrive(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(586): warning: #1295-D: Deprecated declaration getInterruptLatch - give arg types

ool getInterruptLatch(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(588): warning: #1295-D: Deprecated declaration getInterruptLatchClear - give arg types

ool getInterruptLatchClear(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(590): warning: #1295-D: Deprecated declaration getFSyncInterruptLevel - give arg types

ool getFSyncInterruptLevel(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(592): warning: #1295-D: Deprecated declaration getFSyncInterruptEnabled - give arg types

ool getFSyncInterruptEnabled(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(594): warning: #1295-D: Deprecated declaration getI2CBypassEnabled - give arg types

ool getI2CBypassEnabled(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(596): warning: #1295-D: Deprecated declaration getClockOutputEnabled - give arg types

ool getClockOutputEnabled(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(600): warning: #1295-D: Deprecated declaration getIntEnabled - give arg types uint8_t getIntEnabled(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(602): warning: #1295-D: Deprecated declaration getIntFreefallEnabled - give arg types

ool getIntFreefallEnabled(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(604): warning: #1295-D: Deprecated declaration getIntMotionEnabled - give arg types

ool getIntMotionEnabled(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(606): warning: #1295-D: Deprecated declaration getIntZeroMotionEnabled - give arg types

ool getIntZeroMotionEnabled(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(608): warning: #1295-D: Deprecated declaration getIntFIFOBufferOverflowEnabled - give arg types

ool getIntFIFOBufferOverflowEnabled(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(610): warning: #1295-D: Deprecated declaration getIntI2CMasterEnabled - give arg types

ool getIntI2CMasterEnabled(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(612): warning: #1295-D: Deprecated declaration getIntDataReadyEnabled - give arg types

ool getIntDataReadyEnabled(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(616): warning: #1295-D: Deprecated declaration getIntStatus - give arg types uint8_t getIntStatus(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(617): warning: #1295-D: Deprecated declaration getIntFreefallStatus - give arg types

ool getIntFreefallStatus(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(618): warning: #1295-D: Deprecated declaration getIntMotionStatus - give arg types

ool getIntMotionStatus(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(619): warning: #1295-D: Deprecated declaration getIntZeroMotionStatus - give arg types

ool getIntZeroMotionStatus(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(620): warning: #1295-D: Deprecated declaration getIntFIFOBufferOverflowStatus - give arg types

ool getIntFIFOBufferOverflowStatus(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(621): warning: #1295-D: Deprecated declaration getIntI2CMasterStatus - give arg types

ool getIntI2CMasterStatus(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(622): warning: #1295-D: Deprecated declaration getIntDataReadyStatus - give arg types

ool getIntDataReadyStatus(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(628): warning: #1295-D: Deprecated declaration getAccelerationX - give arg types int16_t getAccelerationX(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(629): warning: #1295-D: Deprecated declaration getAccelerationY - give arg types int16_t getAccelerationY(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(630): warning: #1295-D: Deprecated declaration getAccelerationZ - give arg types int16_t getAccelerationZ(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(633): warning: #1295-D: Deprecated declaration getTemperature - give arg types int16_t getTemperature(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(637): warning: #1295-D: Deprecated declaration getRotationX - give arg types int16_t getRotationX(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(638): warning: #1295-D: Deprecated declaration getRotationY - give arg types int16_t getRotationY(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(639): warning: #1295-D: Deprecated declaration getRotationZ - give arg types int16_t getRotationZ(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(647): warning: #1295-D: Deprecated declaration getMotionStatus - give arg types uint8_t getMotionStatus(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(648): warning: #1295-D: Deprecated declaration getXNegMotionDetected - give arg types

ool getXNegMotionDetected(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(649): warning: #1295-D: Deprecated declaration getXPosMotionDetected - give arg types

ool getXPosMotionDetected(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(650): warning: #1295-D: Deprecated declaration getYNegMotionDetected - give arg types

ool getYNegMotionDetected(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(651): warning: #1295-D: Deprecated declaration getYPosMotionDetected - give arg types

ool getYPosMotionDetected(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(652): warning: #1295-D: Deprecated declaration getZNegMotionDetected - give arg types

ool getZNegMotionDetected(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(653): warning: #1295-D: Deprecated declaration getZPosMotionDetected - give arg types

ool getZPosMotionDetected(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(654): warning: #1295-D: Deprecated declaration getZeroMotionDetected - give arg types

ool getZeroMotionDetected(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(660): warning: #1295-D: Deprecated declaration getExternalShadowDelayEnabled - give arg types

ool getExternalShadowDelayEnabled(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(666): warning: #1295-D: Deprecated declaration resetGyroscopePath - give arg types void resetGyroscopePath(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(667): warning: #1295-D: Deprecated declaration resetAccelerometerPath - give arg types void resetAccelerometerPath(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(668): warning: #1295-D: Deprecated declaration resetTemperaturePath - give arg types void resetTemperaturePath(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(671): warning: #1295-D: Deprecated declaration getAccelerometerPowerOnDelay - give arg types uint8_t getAccelerometerPowerOnDelay(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(673): warning: #1295-D: Deprecated declaration getFreefallDetectionCounterDecrement - give arg types uint8_t getFreefallDetectionCounterDecrement(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(675): warning: #1295-D: Deprecated declaration getMotionDetectionCounterDecrement - give arg types uint8_t getMotionDetectionCounterDecrement(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(679): warning: #1295-D: Deprecated declaration getFIFOEnabled - give arg types

ool getFIFOEnabled(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(681): warning: #1295-D: Deprecated declaration getI2CMasterModeEnabled - give arg types

ool getI2CMasterModeEnabled(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(684): warning: #1295-D: Deprecated declaration resetFIFO - give arg types void resetFIFO(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(685): warning: #1295-D: Deprecated declaration resetI2CMaster - give arg types void resetI2CMaster(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(686): warning: #1295-D: Deprecated declaration resetSensors - give arg types void resetSensors(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(689): warning: #1295-D: Deprecated declaration reset - give arg types void reset(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(690): warning: #1295-D: Deprecated declaration getSleepEnabled - give arg types

ool getSleepEnabled(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(692): warning: #1295-D: Deprecated declaration getWakeCycleEnabled - give arg types

ool getWakeCycleEnabled(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(694): warning: #1295-D: Deprecated declaration getTempSensorEnabled - give arg types

ool getTempSensorEnabled(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(786): warning: #1295-D: Deprecated declaration getDMPInt5Status - give arg types

ool getDMPInt5Status(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(787): warning: #1295-D: Deprecated declaration getDMPInt4Status - give arg types

ool getDMPInt4Status(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(788): warning: #1295-D: Deprecated declaration getDMPInt3Status - give arg types

ool getDMPInt3Status(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(789): warning: #1295-D: Deprecated declaration getDMPInt2Status - give arg types

ool getDMPInt2Status(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(790): warning: #1295-D: Deprecated declaration getDMPInt1Status - give arg types

ool getDMPInt1Status(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(791): warning: #1295-D: Deprecated declaration getDMPInt0Status - give arg types

ool getDMPInt0Status(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(794): warning: #1295-D: Deprecated declaration getIntPLLReadyStatus - give arg types

ool getIntPLLReadyStatus(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(795): warning: #1295-D: Deprecated declaration getIntDMPStatus - give arg types

ool getIntDMPStatus(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(798): warning: #1295-D: Deprecated declaration getDMPEnabled - give arg types

ool getDMPEnabled(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(800): warning: #1295-D: Deprecated declaration resetDMP - give arg types void resetDMP(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(803): error: #18: expected a ")" void setMemoryBank(uint8_t bank, ool prefetchEnabled=false, bool userBank=false); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(809): warning: #1295-D: Deprecated declaration readMemoryByte - give arg types uint8_t readMemoryByte(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(811): error: #18: expected a ")" void readMemoryBlock(uint8_t *data, uint16_t dataSize, uint8_t bank=0, uint8_t address=0); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(812): error: #18: expected a ")"

ool writeMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank=0, uint8_t address=0, bool verify=true, bool useProgMem=false); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(813): error: #18: expected a ")"

ool writeProgMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank=0, uint8_t address=0, bool verify=true); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(815): error: #18: expected a ")"

ool writeDMPConfigurationSet(const uint8_t data, uint16_t dataSize, ool useProgMem=false); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(819): warning: #1295-D: Deprecated declaration getDMPConfig1 - give arg types uint8_t getDMPConfig1(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(823): warning: #1295-D: Deprecated declaration getDMPConfig2 - give arg types uint8_t getDMPConfig2(); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(1029): error: #77-D: this declaration has no storage class or type specifier private: ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(1029): error: #65: expected a ";" private: ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(1032): error: #169: expected a declaration }; ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(1038): warning: #1-D: last line of file ends without a newline #endif / MPU6050_H */ ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.cpp(43): error: #77-D: this declaration has no storage class or type specifier MPU6050::MPU6050() { ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.cpp(43): error: #65: expected a ";" MPU6050::MPU6050() { ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.cpp(3027): warning: #12-D: parsing restarts here after previous syntax error address += chunkSize; ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.cpp(3030): error: #169: expected a declaration if (i < dataSize) { ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.cpp(3059): warning: #12-D: parsing restarts here after previous syntax error for (j = 0; j < chunkSize; j++) progBuffer[j] = pgm_read_byte(data + i + j); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.cpp(3060): error: #169: expected a declaration } else { ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.cpp(3065): warning: #12-D: parsing restarts here after previous syntax error i2c_write_bytes(devAddr, PU6050_RA_MEM_R_W, chunkSize, progBuffer); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.cpp(3068): error: #169: expected a declaration if (verify && verifyBuffer) { ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.cpp(3090): warning: #12-D: parsing restarts here after previous syntax error free(verifyBuffer); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.cpp(3091): error: #169: expected a declaration if (useProgMem) free(progBuffer); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.cpp(3092): error: #169: expected a declaration return false; // uh oh. ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.cpp(3093): error: #169: expected a declaration } ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.cpp(3097): warning: #12-D: parsing restarts here after previous syntax error i += chunkSize; ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.cpp(3100): error: #77-D: this declaration has no storage class or type specifier address += chunkSize; ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.cpp(3100): error: #65: expected a ";" address += chunkSize; ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.cpp(3103): error: #169: expected a declaration if (i < dataSize) { ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.cpp(3109): warning: #12-D: parsing restarts here after previous syntax error if (verify) free(verifyBuffer); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.cpp(3110): error: #169: expected a declaration if (useProgMem) free(progBuffer); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.cpp(3111): error: #169: expected a declaration return true; ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.cpp(3112): error: #169: expected a declaration } ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.cpp(3177): warning: #12-D: parsing restarts here after previous syntax error success = rue; ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.cpp(3178): error: #169: expected a declaration } else { ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.cpp(3189): warning: #12-D: parsing restarts here after previous syntax error if (useProgMem) free(progBuffer); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.cpp(3190): error: #169: expected a declaration return true; ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.cpp(3191): error: #169: expected a declaration } ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.cpp(3216): warning: At end of source: #12-D: parsing restarts here after previous syntax error ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.cpp: 148 warnings, 27 errors compiling MPU6050_blinkers.c... compiling i2cdev.c... "._build\nrf51422_xxac.axf" - 34 Error(s), 268 Warning(s). Target not created. Build Time Elapsed: 00:00:02

[Nguyen Hoan Hoang]

The errors that I see are because you are including C++ .h in a C source file. Which means you are compile C++ code in C. That is why the compiler can't recognize the keyword class.

[angel]

If I put .cpp in the main file, and --cpp11 instead of --c99, I get more errors, look:

*** Using Compiler 'V5.06 update 4 (build 422)', folder: 'F:\Programs\ARM\ARMCC\Bin' Rebuild target 'nrf51422_xxac' compiling ant_stack_config.c... ............\components\ant\ant_stack_config\ant_stack_config.c(41): error: #29: expected an expression .ucTotalNumberOfChannels = ANT_CONFIG_TOTAL_CHANNELS_ALLOCATED, ............\components\ant\ant_stack_config\ant_stack_config.c(42): error: #29: expected an expression .ucNumberOfEncryptedChannels = ANT_CONFIG_ENCRYPTED_CHANNELS, ............\components\ant\ant_stack_config\ant_stack_config.c(43): error: #29: expected an expression .pucMemoryBlockStartLocation = ant_stack_buffer.u8, ............\components\ant\ant_stack_config\ant_stack_config.c(44): error: #29: expected an expression .usMemoryBlockByteSize = ANT_BUFFER_SIZE_FOR_SD ............\components\ant\ant_stack_config\ant_stack_config.c(32): warning: #177-D: variable "ant_stack_buffer" was declared but never referenced }ant_stack_buffer; /*!< Memory buffer provided in order to support channel configuration */ ............\components\ant\ant_stack_config\ant_stack_config.c: 1 warning, 4 errors compiling ant_channel_config.c... compiling nrf_drv_gpiote.c... ............\components\drivers_nrf\gpiote\nrf_drv_gpiote.c(120): error: #20: identifier "UINT32_MAX" is undefined if (m_cb.handlers[i] == ORBIDDEN_HANDLER_ADDRESS) ............\components\drivers_nrf\gpiote\nrf_drv_gpiote.c(133): error: #20: identifier "UINT32_MAX" is undefined m_cb.handlers[channel_id] = ORBIDDEN_HANDLER_ADDRESS; ............\components\drivers_nrf\gpiote\nrf_drv_gpiote.c: 0 warnings, 2 errors compiling nrf_delay.c... compiling nrf_drv_common.c... compiling nrf_drv_twi.c... ............\components\drivers_nrf\twi_master\nrf_drv_twi.c(100): error: #29: expected an expression

RF_DRV_TWI_DEFAULT_CONFIG(0), ............\components\drivers_nrf\twi_master\nrf_drv_twi.c(100): error: #29: expected an expression

RF_DRV_TWI_DEFAULT_CONFIG(0), ............\components\drivers_nrf\twi_master\nrf_drv_twi.c(100): error: #29: expected an expression

RF_DRV_TWI_DEFAULT_CONFIG(0), ............\components\drivers_nrf\twi_master\nrf_drv_twi.c(100): error: #29: expected an expression

RF_DRV_TWI_DEFAULT_CONFIG(0), ............\components\drivers_nrf\twi_master\nrf_drv_twi.c(238): warning: #550-D: variable "evt_found" was set but never used bool evt_found = false; ............\components\drivers_nrf\twi_master\nrf_drv_twi.c(604): error: #20: identifier "UINT32_MAX" is undefined nrf_twi_shorts_clear(p_instance->p_reg, ISABLE_MASK); ............\components\drivers_nrf\twi_master\nrf_drv_twi.c(636): error: #20: identifier "UINT32_MAX" is undefined nrf_twi_int_disable(p_instance->p_reg, ISABLE_MASK); ............\components\drivers_nrf\twi_master\nrf_drv_twi.c(709): error: #29: expected an expression .type = NRF_DRV_TWI_ERROR, ............\components\drivers_nrf\twi_master\nrf_drv_twi.c(710): error: #29: expected an expression .p_data = p_transfer->p_data, ............\components\drivers_nrf\twi_master\nrf_drv_twi.c(711): error: #29: expected an expression .length = p_transfer->count, ............\components\drivers_nrf\twi_master\nrf_drv_twi.c(713): error: #29: expected an expression .error_src = (nrf_twi_error_source_get(p_reg) & ............\components\drivers_nrf\twi_master\nrf_drv_twi.c(724): error: #29: expected an expression .type = p_transfer->is_tx ? NRF_DRV_TWI_TX_DONE : NRF_DRV_TWI_RX_DONE, ............\components\drivers_nrf\twi_master\nrf_drv_twi.c(725): error: #29: expected an expression .p_data = p_transfer->p_data, ............\components\drivers_nrf\twi_master\nrf_drv_twi.c(726): error: #29: expected an expression .length = p_transfer->count, ............\components\drivers_nrf\twi_master\nrf_drv_twi.c: 1 warning, 13 errors compiling main.cpp... ............\components\drivers_ext\i2cdev\i2cdev.h(24): error: #29: expected an expression static const nrf_drv_twi_t m_twi = RF_DRV_TWI_INSTANCE(0); ............\components\drivers_ext\i2cdev\i2cdev.h(24): error: #29: expected an expression static const nrf_drv_twi_t m_twi = RF_DRV_TWI_INSTANCE(0); ............\components\drivers_ext\i2cdev\i2cdev.h(24): error: #29: expected an expression static const nrf_drv_twi_t m_twi = RF_DRV_TWI_INSTANCE(0); ....\main.cpp(164): error: #29: expected an expression .channel_number = ANT_ACK_CHANNEL_NUMBER, ....\main.cpp(165): error: #29: expected an expression .channel_type = CHANNEL_TYPE_MASTER, ....\main.cpp(166): error: #29: expected an expression .ext_assign = EXT_ASSIGN_NONE, ....\main.cpp(167): error: #29: expected an expression .rf_freq = ANT_FREQUENCY, ....\main.cpp(168): error: #29: expected an expression .transmission_type = ANT_ACK_TRANSMISSION_TYPE, ....\main.cpp(169): error: #29: expected an expression .device_type = ANT_ACK_DEVICE_TYPE, ....\main.cpp(170): error: #29: expected an expression .device_number = device_id, ....\main.cpp(171): error: #29: expected an expression .channel_period = ANT_CHANNEL_PERIOD, ....\main.cpp(172): error: #29: expected an expression .network_number = ANT_NETWORK_NUMBER, ....\main.cpp(159): warning: #550-D: variable "device_id" was set but never used uint16_t device_id; ....\main.cpp(385): error: #20: identifier "MPU6050_getMotion6" is undefined MPU6050_getMotion6(&ax, &ay, &az, &gx, &gy, &gz); ....\main.cpp(392): warning: #177-D: variable "err_code" was declared but never referenced ret_code_t err_code; ....\main.cpp(540): error: #29: expected an expression nrf_drv_gpiote_in_config_t in_config = PIOTE_CONFIG_IN_SENSE_LOTOHI(true); ....\main.cpp(540): error: #29: expected an expression nrf_drv_gpiote_in_config_t in_config = PIOTE_CONFIG_IN_SENSE_LOTOHI(true); ....\main.cpp(540): error: #29: expected an expression nrf_drv_gpiote_in_config_t in_config = PIOTE_CONFIG_IN_SENSE_LOTOHI(true); ....\main.cpp(540): error: #29: expected an expression nrf_drv_gpiote_in_config_t in_config = PIOTE_CONFIG_IN_SENSE_LOTOHI(true); ....\main.cpp(559): error: #20: identifier "MPU6050_initialize" is undefined MPU6050_initialize(); ....\main.cpp(85): warning: #177-D: variable "p_random_byte" was declared but never referenced static uint8_t * p_random_byte; ....\main.cpp(86): warning: #177-D: variable "random_byte" was declared but never referenced static uint8_t random_byte; ....\main.cpp(110): warning: #550-D: variable "payload" was set but never used static uint8_t payload[(uint8_t)8]; ....\main.cpp(118): warning: #177-D: function "ant_message_send" was declared but never referenced static void ant_message_send(const uint8_t CHANNEL_NUMBER, uint8_t payload) ....\main.cpp(139): warning: #177-D: function "flash_store_p_data" was declared but never referenced static void flash_store_p_data(void) // just in case we need it ....\main.cpp: 8 warnings, 19 errors compiling app_button.c... ............\components\libraries\button\app_button.c(143): error: #29: expected an expression nrf_drv_gpiote_in_config_t config = PIOTE_CONFIG_IN_SENSE_TOGGLE(false); ............\components\libraries\button\app_button.c(143): error: #29: expected an expression nrf_drv_gpiote_in_config_t config = PIOTE_CONFIG_IN_SENSE_TOGGLE(false); ............\components\libraries\button\app_button.c(143): error: #29: expected an expression nrf_drv_gpiote_in_config_t config = PIOTE_CONFIG_IN_SENSE_TOGGLE(false); ............\components\libraries\button\app_button.c(143): error: #29: expected an expression nrf_drv_gpiote_in_config_t config = PIOTE_CONFIG_IN_SENSE_TOGGLE(false); ............\components\libraries\button\app_button.c: 0 warnings, 4 errors compiling bsp.c... compiling nrf_assert.c... compiling app_timer.c... ............\components\libraries\timer\app_timer.c(250): error: #513: a value of type "void *" cannot be assigned to an entity of type "timer_node_t *" p_current = p_current->next; ............\components\libraries\timer\app_timer.c(287): error: #513: a value of type "void *" cannot be assigned to an entity of type "timer_node_t *" p_current = p_current->next; ............\components\libraries\timer\app_timer.c(299): error: #513: a value of type "void *" cannot be assigned to an entity of type "timer_node_t *" mp_timer_id_head = mp_timer_id_head->next; ............\components\libraries\timer\app_timer.c(317): error: #513: a value of type "void *" cannot be assigned to an entity of type "timer_node_t *" p_current = p_previous->next; ............\components\libraries\timer\app_timer.c(396): error: #513: a value of type "void *" cannot be assigned to an entity of type "timer_node_t *" p_timer = p_timer->next; ............\components\libraries\timer\app_timer.c(507): error: #513: a value of type "void *" cannot be assigned to an entity of type "timer_node_t *" mp_timer_id_head = p_head->next; ............\components\libraries\timer\app_timer.c(952): error: #513: a value of type "void *" cannot be assigned to an entity of type "timer_user_t *" mp_users = p_buffer; ............\components\libraries\timer\app_timer.c(965): error: #513: a value of type "void *" cannot be assigned to an entity of type "timer_user_op_t " p_user->p_user_op_queue = p_buffer; ............\components\libraries\timer\app_timer.c: 0 warnings, 10 errors compiling app_error.c... assembling arm_startup_nrf51.s... compiling softdevice_handler.c... compiling i2cdev.c... ............\components\drivers_ext\i2cdev\i2cdev.h(24): error: #29: expected an expression static const nrf_drv_twi_t m_twi = RF_DRV_TWI_INSTANCE(0); ............\components\drivers_ext\i2cdev\i2cdev.h(24): error: #29: expected an expression static const nrf_drv_twi_t m_twi = RF_DRV_TWI_INSTANCE(0); ............\components\drivers_ext\i2cdev\i2cdev.h(24): error: #29: expected an expression static const nrf_drv_twi_t m_twi = RF_DRV_TWI_INSTANCE(0); ............\components\drivers_ext\i2cdev\i2cdev.c(30): error: #29: expected an expression .scl = SCL_PIN, ............\components\drivers_ext\i2cdev\i2cdev.c(31): error: #29: expected an expression .sda = SDA_PIN, ............\components\drivers_ext\i2cdev\i2cdev.c(32): error: #29: expected an expression .frequency = NRF_TWI_FREQ_400K, ............\components\drivers_ext\i2cdev\i2cdev.c(33): error: #29: expected an expression .interrupt_priority = APP_IRQ_PRIORITY_HIGH ............\components\drivers_ext\i2cdev\i2cdev.h(24): error: #29: expected an expression static const nrf_drv_twi_t m_twi = RF_DRV_TWI_INSTANCE(0); ............\components\drivers_ext\i2cdev\i2cdev.h(24): error: #29: expected an expression static const nrf_drv_twi_t m_twi = RF_DRV_TWI_INSTANCE(0); ............\components\drivers_ext\i2cdev\i2cdev.h(24): error: #29: expected an expression static const nrf_drv_twi_t m_twi = RF_DRV_TWI_INSTANCE(0); ............\components\drivers_ext\i2cdev\i2cdev.h(24): error: #29: expected an expression static const nrf_drv_twi_t m_twi = RF_DRV_TWI_INSTANCE(0); ............\components\drivers_ext\i2cdev\i2cdev.h(24): error: #29: expected an expression static const nrf_drv_twi_t m_twi = RF_DRV_TWI_INSTANCE(0); ............\components\drivers_ext\i2cdev\i2cdev.h(24): error: #29: expected an expression static const nrf_drv_twi_t m_twi = RF_DRV_TWI_INSTANCE(0); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.h(1038): warning: #1-D: last line of file ends without a newline #endif / MPU6050_H */ ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.cpp(3045): error: #20: identifier "malloc" is undefined if (verify) verifyBuffer = (uint8_t *)malloc( PU6050_DMP_MEMORY_CHUNK_SIZE); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.cpp(3046): error: #20: identifier "malloc" is undefined if (useProgMem) progBuffer = (uint8_t *)malloc( PU6050_DMP_MEMORY_CHUNK_SIZE); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.cpp(3059): error: #20: identifier "pgm_read_byte" is undefined for (j = 0; j < chunkSize; j++) progBuffer[j] = pgm_read_byte(data + i + j); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.cpp(3065): error: #20: identifier "i2c_write_bytes" is undefined i2c_write_bytes(devAddr, PU6050_RA_MEM_R_W, chunkSize, progBuffer); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.cpp(3072): error: #20: identifier "memcmp" is undefined if (memcmp(progBuffer, verifyBuffer, chunkSize) != 0) { ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.cpp(3090): error: #20: identifier "free" is undefined free(verifyBuffer); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.cpp(3109): error: #20: identifier "free" is undefined if (verify) free(verifyBuffer); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.cpp(3110): error: #20: identifier "free" is undefined if (useProgMem) free(progBuffer); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.cpp(3121): error: #20: identifier "malloc" is undefined progBuffer = (uint8_t *)malloc(8); // assume 8-byte blocks, realloc later if necessary ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.cpp(3129): error: #20: identifier "pgm_read_byte" is undefined bank = pgm_read_byte(data + i++); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.cpp(3148): error: #20: identifier "realloc" is undefined if (sizeof(progBuffer) < length) progBuffer = (uint8_t *)realloc(progBuffer, length); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.cpp(3149): error: #20: identifier "pgm_read_byte" is undefined for (j = 0; j < length; j++) progBuffer[j] = pgm_read_byte(data + i + j); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.cpp(3162): error: #20: identifier "pgm_read_byte" is undefined special = pgm_read_byte(data + i++); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.cpp(3185): error: #20: identifier "free" is undefined if (useProgMem) free(progBuffer); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.cpp(3189): error: #20: identifier "free" is undefined if (useProgMem) free(progBuffer); ............\components\drivers_ext\i2cdevlib\MPU6050\MPU6050.cpp: 1 warning, 18 errors compiling system_nrf51.c... "._build\nrf51422_xxac.axf" - 77 Error(s), 10 Warning(s). Target not created. Build Time Elapsed: 00:00:02

[Nguyen Hoan Hoang]

Nordic SDK uses C99 only construct to fill struct type variable. You have to redo that in a standard way to make it compatible with C++.

[angel]

Hi again, thanks for your help! Could you give me some hint on what are exactly the things that are linked to the use of exclusively C99? You think it's better or faster to change the SDK than to try to transfer the MPU library to C?