| 1,18 → 1,3 |
|---|
| //***************************************************************************** |
| // File Name : a2dtest.c |
| // |
| // Title : example usage of some avr library functions |
| // Revision : 1.0 |
| // Notes : |
| // Target MCU : Atmel AVR series |
| // Editor Tabs : 4 |
| // |
| // Revision History: |
| // When Who Description of change |
| // ----------- ----------- ----------------------- |
| // 20-Oct-2002 pstang Created the program |
| //***************************************************************************** |
| |
| //----- Include Files --------------------------------------------------------- |
| #include <avr/io.h> // include I/O definitions (port names, pin names, etc) |
| #include <avr/interrupt.h> // include interrupt support |
| 27,12 → 12,33 |
|---|
| //----- 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) |
| { |
| u16 i; |
| double err=0; |
| |
| for(i=0; i<size; i++) err += square(buf[i]-average); // sum quadratic errors |
| err = sqrt(err/(size-1))/sqrt(size); // compute average quadratic error |
| return err; |
| } |
| |
| int main(void) |
| { |
| u16 i,x,y; |
| double fi, err, fibuf[BUFLEN]; |
| s16 fia, erra; |
| u16 fib, errb; |
| u08 fi_min, fi_sec, err_min, err_sec; |
| u16 fi_deg, err_deg; |
| |
| // initialize our libraries |
| // initialize the UART (serial port) |
| 46,9 → 52,9 |
|---|
| a2dInit(); |
| // configure a2d port (PORTA) as input |
| // so we can receive analog signals |
| DDRA = 0x00; |
| DDRF = 0x00; |
| // make sure pull-up resistors are turned off |
| PORTA = 0x00; |
| PORTF = 0x00; |
| |
| // set the a2d prescaler (clock division ratio) |
| // - a lower prescale setting will make the a2d converter go faster |
| 65,6 → 71,8 |
|---|
| // 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; |
| 76,19 → 84,19 |
|---|
| 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 |
| |
| fi = ((fi/BUFLEN)+PI) * 180.0 / PI; // average recorded angles and convert product to degrees |
| |
| for(i=0; i<BUFLEN; i++) err += (fibuf[i]-fi)*(fibuf[i]-fi); // sum cubic errors |
| err = sqrt(err/(BUFLEN-1))/sqrt(BUFLEN); // compute average cubic error |
| erra = floor(err); |
| errb = floor((err - erra)*1000); |
| /*for(i=0; i<BUFLEN; i++) |
| { |
| fibuf[i]=i; |
| }*/ |
| |
| fia = floor(fi); |
| fib = floor((fi - fia)*1000); |
| |
| err=quadraticerror(fi,fibuf,BUFLEN); |
| radtodeg(fi,&fi_deg,&fi_min,&fi_sec); |
| radtodeg(err,&err_deg,&err_min,&err_sec); |
| |
| rprintf("fi:%d.%d +- %d.%d \r\n", fia, fib, erra, errb); |
| 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; |
| } |