| 0,0 → 1,97 |
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| //----- 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; |
| } |
| Property changes: |
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| Added: svn:mergeinfo |
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