Subversion Repositories svnkaklik

//----- Include Files ---------------------------------------------------------

#include <avr/io.h>		// include I/O definitions (port names, pin names, etc)

#include <avr/interrupt.h>	// include interrupt support

#include <math.h>

#include "global.h"		// include our global settings

#include "uart2.h"		// include uart function library

#include "rprintf.h"	// include printf function library

#include "timer.h"		// include timer function library (timing, PWM, etc)

#include "a2d.h"		// include A/D converter function library

//----- Begin Code ------------------------------------------------------------

#define BUFLEN 64

void radtodeg(double fi, u16 *deg, u08 *min, u08 *sec)	//convert radians to degrees mins and seconds

{

  double pom;

	fi=fi*180/PI;

	*deg=(u16)trunc(fi);

	pom=(fi-(*deg))*60;

	*min=(u08)trunc(pom);

	*sec=(u08)round((pom-(*min))*60);

}

inline double quadraticerror(double average, double buf[], u16 size) // compute average quadratic error

{

  u16 i;

  double err=0;

	for(i=0; i<size; i++) err += square(buf[i]-average);		// sum quadratic errors	

	err = sqrt((1/(double)size)*err);

	return err;

}

int main(void)

{

	u16 i,x,y;

	double fi, err, fibuf[BUFLEN];		// buffer for recorded and computed values

	u08 fi_min, fi_sec, err_min, err_sec;	// computed angles

	u16 fi_deg, err_deg;		// computed angles in whole degrees

	// initialize some libraries

	// initialize the UART (serial port)

	uartInit();

	uartSetBaudRate(0,9600);

	// make all rprintf statements use uart for output

	rprintfInit(uart0SendByte);

	// initialize the timer system

	timerInit();

	// turn on and initialize A/D converter

	a2dInit();	

	// configure a2d port (PORTA) as input

	// so we can receive analog signals

	DDRF = 0x00;

	// make sure pull-up resistors are turned off

	PORTF = 0x00;

	// set the a2d prescaler (clock division ratio)

	// - a lower prescale setting will make the a2d converter go faster

	// - a higher setting will make it go slower but the measurements

	//   will be more accurate

	// - other allowed prescale values can be found in a2d.h

	a2dSetPrescaler(ADC_PRESCALE_DIV128);

	// set the a2d reference

	// - the reference is the voltage against which a2d measurements are made

	// - other allowed reference values can be found in a2d.h

	a2dSetReference(ADC_REFERENCE_AREF);

	// use a2dConvert8bit(channel#) to get an 8bit a2d reading

	// use a2dConvert10bit(channel#) to get a 10bit a2d reading

	rprintf("inklinometr 2009\r\n");

	while(1)

	{

		fi=0;

		err=0;

		for(i=0; i<BUFLEN; i++)

		{ 

			x = a2dConvert10bit(ADC_CH_ADC0);

			y = a2dConvert10bit(ADC_CH_ADC1);

			fibuf[i] = atan2((double)x-511,(double)y-511);		// record computed angles to buffer for post processing

		}

		for(i=0; i<BUFLEN; i++) fi += fibuf[i];		// sum recorded angles

		fi = (fi/BUFLEN)+PI;		// average recorded angles and expand product to whole circle

		err=quadraticerror((fi-PI),fibuf,BUFLEN);

		radtodeg(fi,&fi_deg,&fi_min,&fi_sec);		//translate radians to degrees

		radtodeg(err,&err_deg,&err_min,&err_sec);

		rprintf("fi:%d.%d.%d  +- %d.%d.%d \r\n", fi_deg, fi_min, fi_sec, err_deg, err_min, err_sec);

		delay_ms(20);

	}

	return 0;

}