In file included from C:\Users\a1buc\AppData\Local\Arduino15\packages\Heltec-esp32\hardware\esp32\0.0.7/tools/sdk/esp32/include/soc/include/soc/gpio_periph.h:17, from C:\Users\a1buc\AppData\Local\Arduino15\packages\Heltec-esp32\hardware\esp32\0.0.7/tools/sdk/esp32/include/hal/include/hal/gpio_types.h:17, from C:\Users\a1buc\AppData\Local\Arduino15\packages\Heltec-esp32\hardware\esp32\0.0.7/tools/sdk/esp32/include/esp_hw_support/include/esp_sleep.h:13, from C:\Users\a1buc\AppData\Local\Arduino15\packages\Heltec-esp32\hardware\esp32\0.0.7\cores\esp32/esp32-hal.h:33, from C:\Users\a1buc\AppData\Local\Arduino15\packages\Heltec-esp32\hardware\esp32\0.0.7\cores\esp32/Arduino.h:36, from C:\Users\a1buc\AppData\Local\Temp\arduino-sketch-8A237DC1E23B6F00AF919451D2D831BA\sketch\MinIMU9AHRS.ino.cpp:1: C:\Users\a1buc\AppData\Local\Arduino15\packages\Heltec-esp32\hardware\esp32\0.0.7/tools/sdk/esp32/include/soc/esp32/include/soc/io_mux_reg.h:102:43: error: expected identifier before '(' token #define PIN_CTRL (DR_REG_IO_MUX_BASE +0x00) ^ c:\Users\a1buc\OneDrive\Documents\Arduino Projects\libraries\LSM6/LSM6.h:22:7: note: in expansion of macro 'PIN_CTRL' PIN_CTRL = 0x02, // DSO ^~~~~~~~ C:\Users\a1buc\AppData\Local\Arduino15\packages\Heltec-esp32\hardware\esp32\0.0.7/tools/sdk/esp32/include/soc/esp32/include/soc/io_mux_reg.h:102:43: error: expected '}' before '(' token #define PIN_CTRL (DR_REG_IO_MUX_BASE +0x00) ^ c:\Users\a1buc\OneDrive\Documents\Arduino Projects\libraries\LSM6/LSM6.h:22:7: note: in expansion of macro 'PIN_CTRL' PIN_CTRL = 0x02, // DSO ^~~~~~~~ In file included from C:\Users\a1buc\AppData\Local\Arduino15\packages\Heltec-esp32\hardware\esp32\0.0.7\libraries\minimu-9-ahrs-arduino-master\MinIMU9AHRS\I2C.ino:33: c:\Users\a1buc\OneDrive\Documents\Arduino Projects\libraries\LSM6/LSM6.h:20:5: note: to match this '{' { ^ In file included from C:\Users\a1buc\AppData\Local\Arduino15\packages\Heltec-esp32\hardware\esp32\0.0.7/tools/sdk/esp32/include/soc/include/soc/soc_memory_types.h:20, from C:\Users\a1buc\AppData\Local\Arduino15\packages\Heltec-esp32\hardware\esp32\0.0.7/tools/sdk/esp32/include/esp_hw_support/include/soc/compare_set.h:12, from C:\Users\a1buc\AppData\Local\Arduino15\packages\Heltec-esp32\hardware\esp32\0.0.7/tools/sdk/esp32/include/esp_hw_support/include/soc/spinlock.h:13, from C:\Users\a1buc\AppData\Local\Arduino15\packages\Heltec-esp32\hardware\esp32\0.0.7/tools/sdk/esp32/include/freertos/port/xtensa/include/freertos/portmacro.h:42, from C:\Users\a1buc\AppData\Local\Arduino15\packages\Heltec-esp32\hardware\esp32\0.0.7/tools/sdk/esp32/include/freertos/include/freertos/portable.h:51, from C:\Users\a1buc\AppData\Local\Arduino15\packages\Heltec-esp32\hardware\esp32\0.0.7/tools/sdk/esp32/include/freertos/include/freertos/FreeRTOS.h:63, from C:\Users\a1buc\AppData\Local\Arduino15\packages\Heltec-esp32\hardware\esp32\0.0.7\cores\esp32/Arduino.h:33, from C:\Users\a1buc\AppData\Local\Temp\arduino-sketch-8A237DC1E23B6F00AF919451D2D831BA\sketch\MinIMU9AHRS.ino.cpp:1: C:\Users\a1buc\AppData\Local\Arduino15\packages\Heltec-esp32\hardware\esp32\0.0.7/tools/sdk/esp32/include/soc/esp32/include/soc/soc.h:50:49: error: expected unqualified-id before numeric constant #define DR_REG_IO_MUX_BASE 0x3ff49000 ^~~~~~~~~~ C:\Users\a1buc\AppData\Local\Arduino15\packages\Heltec-esp32\hardware\esp32\0.0.7/tools/sdk/esp32/include/soc/esp32/include/soc/io_mux_reg.h:102:44: note: in expansion of macro 'DR_REG_IO_MUX_BASE' #define PIN_CTRL (DR_REG_IO_MUX_BASE +0x00) ^~~~~~~~~~~~~~~~~~ c:\Users\a1buc\OneDrive\Documents\Arduino Projects\libraries\LSM6/LSM6.h:22:7: note: in expansion of macro 'PIN_CTRL' PIN_CTRL = 0x02, // DSO ^~~~~~~~ C:\Users\a1buc\AppData\Local\Arduino15\packages\Heltec-esp32\hardware\esp32\0.0.7/tools/sdk/esp32/include/soc/esp32/include/soc/soc.h:50:49: error: expected ')' before numeric constant #define DR_REG_IO_MUX_BASE 0x3ff49000 ^~~~~~~~~~ C:\Users\a1buc\AppData\Local\Arduino15\packages\Heltec-esp32\hardware\esp32\0.0.7/tools/sdk/esp32/include/soc/esp32/include/soc/io_mux_reg.h:102:44: note: in expansion of macro 'DR_REG_IO_MUX_BASE' #define PIN_CTRL (DR_REG_IO_MUX_BASE +0x00) ^~~~~~~~~~~~~~~~~~ c:\Users\a1buc\OneDrive\Documents\Arduino Projects\libraries\LSM6/LSM6.h:22:7: note: in expansion of macro 'PIN_CTRL' PIN_CTRL = 0x02, // DSO ^~~~~~~~ In file included from C:\Users\a1buc\AppData\Local\Arduino15\packages\Heltec-esp32\hardware\esp32\0.0.7/tools/sdk/esp32/include/soc/include/soc/gpio_periph.h:17, from C:\Users\a1buc\AppData\Local\Arduino15\packages\Heltec-esp32\hardware\esp32\0.0.7/tools/sdk/esp32/include/hal/include/hal/gpio_types.h:17, from C:\Users\a1buc\AppData\Local\Arduino15\packages\Heltec-esp32\hardware\esp32\0.0.7/tools/sdk/esp32/include/esp_hw_support/include/esp_sleep.h:13, from C:\Users\a1buc\AppData\Local\Arduino15\packages\Heltec-esp32\hardware\esp32\0.0.7\cores\esp32/esp32-hal.h:33, from C:\Users\a1buc\AppData\Local\Arduino15\packages\Heltec-esp32\hardware\esp32\0.0.7\cores\esp32/Arduino.h:36, from C:\Users\a1buc\AppData\Local\Temp\arduino-sketch-8A237DC1E23B6F00AF919451D2D831BA\sketch\MinIMU9AHRS.ino.cpp:1: C:\Users\a1buc\AppData\Local\Arduino15\packages\Heltec-esp32\hardware\esp32\0.0.7/tools/sdk/esp32/include/soc/esp32/include/soc/io_mux_reg.h:102:43: note: to match this '(' #define PIN_CTRL (DR_REG_IO_MUX_BASE +0x00) ^ c:\Users\a1buc\OneDrive\Documents\Arduino Projects\libraries\LSM6/LSM6.h:22:7: note: in expansion of macro 'PIN_CTRL' PIN_CTRL = 0x02, // DSO ^~~~~~~~ In file included from C:\Users\a1buc\AppData\Local\Arduino15\packages\Heltec-esp32\hardware\esp32\0.0.7\libraries\minimu-9-ahrs-arduino-master\MinIMU9AHRS\I2C.ino:33: c:\Users\a1buc\OneDrive\Documents\Arduino Projects\libraries\LSM6/LSM6.h:272:5: error: 'vector' does not name a type; did you mean 'wctob'? vector a; // accelerometer readings ^~~~~~ wctob c:\Users\a1buc\OneDrive\Documents\Arduino Projects\libraries\LSM6/LSM6.h:273:5: error: 'vector' does not name a type; did you mean 'wctob'? vector g; // gyro readings ^~~~~~ wctob c:\Users\a1buc\OneDrive\Documents\Arduino Projects\libraries\LSM6/LSM6.h:277:10: error: expected unqualified-id before ')' token LSM6(); ^ c:\Users\a1buc\OneDrive\Documents\Arduino Projects\libraries\LSM6/LSM6.h: In function 'void setBus(TwoWire*)': c:\Users\a1buc\OneDrive\Documents\Arduino Projects\libraries\LSM6/LSM6.h:279:34: error: invalid use of 'this' in non-member function void setBus(TwoWire * bus) { this->bus = bus; } ^~~~ c:\Users\a1buc\OneDrive\Documents\Arduino Projects\libraries\LSM6/LSM6.h: In function 'TwoWire* getBus()': c:\Users\a1buc\OneDrive\Documents\Arduino Projects\libraries\LSM6/LSM6.h:280:33: error: 'bus' was not declared in this scope TwoWire * getBus() { return bus; } ^~~ c:\Users\a1buc\OneDrive\Documents\Arduino Projects\libraries\LSM6/LSM6.h: At global scope: c:\Users\a1buc\OneDrive\Documents\Arduino Projects\libraries\LSM6/LSM6.h:282:15: error: 'bool init' redeclared as different kind of symbol bool init(deviceType device = device_auto, sa0State sa0 = sa0_auto); ^~~~~~~~~~ In file included from C:\Users\a1buc\AppData\Local\Temp\arduino-sketch-8A237DC1E23B6F00AF919451D2D831BA\sketch\MinIMU9AHRS.ino.cpp:1: C:\Users\a1buc\AppData\Local\Arduino15\packages\Heltec-esp32\hardware\esp32\0.0.7\cores\esp32/Arduino.h:148:6: note: previous declaration 'void init()' void init(void); ^~~~ In file included from C:\Users\a1buc\AppData\Local\Arduino15\packages\Heltec-esp32\hardware\esp32\0.0.7\libraries\minimu-9-ahrs-arduino-master\MinIMU9AHRS\I2C.ino:33: c:\Users\a1buc\OneDrive\Documents\Arduino Projects\libraries\LSM6/LSM6.h:282:15: error: 'deviceType' was not declared in this scope bool init(deviceType device = device_auto, sa0State sa0 = sa0_auto); ^~~~~~~~~~ c:\Users\a1buc\OneDrive\Documents\Arduino Projects\libraries\LSM6/LSM6.h:282:15: note: suggested alternative: 'decltype' bool init(deviceType device = device_auto, sa0State sa0 = sa0_auto); ^~~~~~~~~~ decltype c:\Users\a1buc\OneDrive\Documents\Arduino Projects\libraries\LSM6/LSM6.h:282:48: error: 'sa0State' was not declared in this scope bool init(deviceType device = device_auto, sa0State sa0 = sa0_auto); ^~~~~~~~ c:\Users\a1buc\OneDrive\Documents\Arduino Projects\libraries\LSM6/LSM6.h:282:48: note: suggested alternative: 'setstate' bool init(deviceType device = device_auto, sa0State sa0 = sa0_auto); ^~~~~~~~ setstate c:\Users\a1buc\OneDrive\Documents\Arduino Projects\libraries\LSM6/LSM6.h:283:5: error: 'deviceType' does not name a type; did you mean 'decltype'? deviceType getDeviceType() { return _device; } ^~~~~~~~~~ decltype c:\Users\a1buc\OneDrive\Documents\Arduino Projects\libraries\LSM6/LSM6.h:295:85: error: 'vector' does not name a type; did you mean 'wctob'? template static void vector_cross(const vector *a, const vector *b, vector *out); ^~~~~~ wctob c:\Users\a1buc\OneDrive\Documents\Arduino Projects\libraries\LSM6/LSM6.h:295:91: error: expected ',' or '...' before '<' token template static void vector_cross(const vector *a, const vector *b, vector *out); ^ In file included from C:\Users\a1buc\AppData\Local\Arduino15\packages\Heltec-esp32\hardware\esp32\0.0.7\libraries\minimu-9-ahrs-arduino-master\MinIMU9AHRS\I2C.ino:33: c:\Users\a1buc\OneDrive\Documents\Arduino Projects\libraries\LSM6/LSM6.h:296:71: error: 'vector' does not name a type; did you mean 'wctob'? template static float vector_dot(const vector *a, const vector *b); ^~~~~~ wctob c:\Users\a1buc\OneDrive\Documents\Arduino Projects\libraries\LSM6/LSM6.h:296:77: error: expected ',' or '...' before '<' token template static float vector_dot(const vector *a, const vector *b); ^ c:\Users\a1buc\OneDrive\Documents\Arduino Projects\libraries\LSM6/LSM6.h:297:34: error: variable or field 'vector_normalize' declared void static void vector_normalize(vector *a); ^~~~~~ c:\Users\a1buc\OneDrive\Documents\Arduino Projects\libraries\LSM6/LSM6.h:297:34: error: 'vector' was not declared in this scope c:\Users\a1buc\OneDrive\Documents\Arduino Projects\libraries\LSM6/LSM6.h:297:34: note: suggested alternative: 'wctob' static void vector_normalize(vector *a); ^~~~~~ wctob c:\Users\a1buc\OneDrive\Documents\Arduino Projects\libraries\LSM6/LSM6.h:297:41: error: expected primary-expression before 'float' static void vector_normalize(vector *a); ^~~~~ c:\Users\a1buc\OneDrive\Documents\Arduino Projects\libraries\LSM6/LSM6.h:299:3: error: expected unqualified-id before 'private' private: ^~~~~~~ c:\Users\a1buc\OneDrive\Documents\Arduino Projects\libraries\LSM6/LSM6.h:301:5: error: 'deviceType' does not name a type; did you mean 'decltype'? deviceType _device; // chip type ^~~~~~~~~~ decltype c:\Users\a1buc\OneDrive\Documents\Arduino Projects\libraries\LSM6/LSM6.h:304:38: error: 'regAddr' has not been declared int16_t testReg(uint8_t address, regAddr reg); ^~~~~~~ c:\Users\a1buc\OneDrive\Documents\Arduino Projects\libraries\LSM6/LSM6.h:305:1: error: expected declaration before '}' token }; ^ exit status 1 Compilation error: exit status 1