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//----- Include Files ---------------------------------------------------------
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//----- Include Files ---------------------------------------------------------
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#include <avr/io.h> // include I/O definitions (port names, pin names, etc)
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#include <avr/io.h> // include I/O definitions (port names, pin names, etc)
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#include <avr/interrupt.h> // include interrupt support
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#include <avr/interrupt.h> // include interrupt support
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#include <math.h>
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#include <math.h>
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#include "global.h" // include our global settings
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#include "global.h" // include our global settings
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#include "uart2.h" // include uart function library
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#include "uart2.h" // include uart function library
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#include "rprintf.h" // include printf function library
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#include "rprintf.h" // include printf function library
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#include "timer.h" // include timer function library (timing, PWM, etc)
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#include "timer.h" // include timer function library (timing, PWM, etc)
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#include "a2d.h" // include A/D converter function library
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#include "a2d.h" // include A/D converter function library
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//----- Begin Code ------------------------------------------------------------
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//----- Begin Code ------------------------------------------------------------
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#define BUFLEN 64
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#define BUFLEN 64
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void radtodeg(double fi, u16 *deg, u08 *min, u08 *sec) //convert radians to degrees mins and seconds
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void radtodeg(double fi, u16 *deg, u08 *min, u08 *sec) //convert radians to degrees mins and seconds
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{
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{
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double pom;
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double pom;
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fi=fi*180/PI;
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fi=fi*180/PI;
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*deg=(u16)trunc(fi);
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*deg=(u16)trunc(fi);
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pom=(fi-(*deg))*60;
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pom=(fi-(*deg))*60;
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*min=(u08)trunc(pom);
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*min=(u08)trunc(pom);
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*sec=(u08)round((pom-(*min))*60);
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*sec=(u08)round((pom-(*min))*60);
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}
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}
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inline double quadraticerror(double average, double buf[], u16 size) // compute average quadratic error
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inline double quadraticerror(double average, double buf[], u16 size) // compute average quadratic error
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{
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{
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u16 i;
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u16 i;
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double err=0;
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double err=0;
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for(i=0; i<size; i++) err += square(buf[i]-average); // sum quadratic errors
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for(i=0; i<size; i++) err += square(buf[i]-average); // sum quadratic errors
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err = sqrt((1/(double)size)*err);
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err = sqrt((1/(double)size)*err);
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return err;
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return err;
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}
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}
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int main(void)
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int main(void)
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{
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{
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u16 i,x,y;
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u16 i,x,y;
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double fi, err, fibuf[BUFLEN]; // buffer for recorded and computed values
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double fi, err, fibuf[BUFLEN]; // buffer for recorded and computed values
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u08 fi_min, fi_sec, err_min, err_sec; // computed angles
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u08 fi_min, fi_sec, err_min, err_sec; // computed angles
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u16 fi_deg, err_deg; // computed angles in whole degrees
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u16 fi_deg, err_deg; // computed angles in whole degrees
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// initialize some libraries
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// initialize some libraries
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// initialize the UART (serial port)
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// initialize the UART (serial port)
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uartInit();
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uartInit();
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uartSetBaudRate(0,9600);
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uartSetBaudRate(0,9600);
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// make all rprintf statements use uart for output
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// make all rprintf statements use uart for output
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rprintfInit(uart0SendByte);
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rprintfInit(uart0SendByte);
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// initialize the timer system
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// initialize the timer system
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timerInit();
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timerInit();
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// turn on and initialize A/D converter
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// turn on and initialize A/D converter
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a2dInit();
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a2dInit();
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// configure a2d port (PORTA) as input
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// configure a2d port (PORTA) as input
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// so we can receive analog signals
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// so we can receive analog signals
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DDRF = 0x00;
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DDRF = 0x00;
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// make sure pull-up resistors are turned off
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// make sure pull-up resistors are turned off
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PORTF = 0x00;
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PORTF = 0x00;
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// set the a2d prescaler (clock division ratio)
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// set the a2d prescaler (clock division ratio)
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// - a lower prescale setting will make the a2d converter go faster
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// - a lower prescale setting will make the a2d converter go faster
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// - a higher setting will make it go slower but the measurements
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// - a higher setting will make it go slower but the measurements
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// will be more accurate
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// will be more accurate
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// - other allowed prescale values can be found in a2d.h
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// - other allowed prescale values can be found in a2d.h
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a2dSetPrescaler(ADC_PRESCALE_DIV128);
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a2dSetPrescaler(ADC_PRESCALE_DIV128);
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// set the a2d reference
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// set the a2d reference
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// - the reference is the voltage against which a2d measurements are made
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// - the reference is the voltage against which a2d measurements are made
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// - other allowed reference values can be found in a2d.h
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// - other allowed reference values can be found in a2d.h
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a2dSetReference(ADC_REFERENCE_AREF);
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a2dSetReference(ADC_REFERENCE_AREF);
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// use a2dConvert8bit(channel#) to get an 8bit a2d reading
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// use a2dConvert8bit(channel#) to get an 8bit a2d reading
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// use a2dConvert10bit(channel#) to get a 10bit a2d reading
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// use a2dConvert10bit(channel#) to get a 10bit a2d reading
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rprintf("inklinometr 2009\r\n");
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rprintf("inklinometr 2009\r\n");
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while(1)
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while(1)
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{
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{
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fi=0;
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fi=0;
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err=0;
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err=0;
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for(i=0; i<BUFLEN; i++)
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for(i=0; i<BUFLEN; i++)
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{
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{
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x = a2dConvert10bit(ADC_CH_ADC0);
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x = a2dConvert10bit(ADC_CH_ADC0);
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y = a2dConvert10bit(ADC_CH_ADC1);
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y = a2dConvert10bit(ADC_CH_ADC1);
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fibuf[i] = atan2((double)x-511,(double)y-511); // record computed angles to buffer for post processing
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fibuf[i] = atan2((double)x-511,(double)y-511); // record computed angles to buffer for post processing
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}
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}
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for(i=0; i<BUFLEN; i++) fi += fibuf[i]; // sum recorded angles
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for(i=0; i<BUFLEN; i++) fi += fibuf[i]; // sum recorded angles
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fi = (fi/BUFLEN)+PI; // average recorded angles and expand product to whole circle
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fi = (fi/BUFLEN)+PI; // average recorded angles and expand product to whole circle
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err=quadraticerror((fi-PI),fibuf,BUFLEN);
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err=quadraticerror((fi-PI),fibuf,BUFLEN);
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radtodeg(fi,&fi_deg,&fi_min,&fi_sec); //translate radians to degrees
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radtodeg(fi,&fi_deg,&fi_min,&fi_sec); //translate radians to degrees
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radtodeg(err,&err_deg,&err_min,&err_sec);
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radtodeg(err,&err_deg,&err_min,&err_sec);
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rprintf("fi:%d.%d.%d +- %d.%d.%d \r\n", fi_deg, fi_min, fi_sec, err_deg, err_min, err_sec);
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rprintf("fi:%d.%d.%d +- %d.%d.%d \r\n", fi_deg, fi_min, fi_sec, err_deg, err_min, err_sec);
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delay_ms(20);
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delay_ms(20);
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}
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}
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return 0;
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return 0;
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}
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}
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