| 1 |
//----- Include Files ---------------------------------------------------------
|
1 |
//----- Include Files ---------------------------------------------------------
|
| 2 |
#include <avr/io.h> // include I/O definitions (port names, pin names, etc)
|
2 |
#include <avr/io.h> // include I/O definitions (port names, pin names, etc)
|
| 3 |
#include <avr/interrupt.h> // include interrupt support
|
3 |
#include <avr/interrupt.h> // include interrupt support
|
| 4 |
#include <math.h>
|
4 |
#include <math.h>
|
| 5 |
|
5 |
|
| 6 |
#include "global.h" // include our global settings
|
6 |
#include "global.h" // include our global settings
|
| 7 |
#include "uart2.h" // include uart function library
|
7 |
#include "uart2.h" // include uart function library
|
| 8 |
#include "rprintf.h" // include printf function library
|
8 |
#include "rprintf.h" // include printf function library
|
| 9 |
#include "timer.h" // include timer function library (timing, PWM, etc)
|
9 |
#include "timer.h" // include timer function library (timing, PWM, etc)
|
| 10 |
#include "a2d.h" // include A/D converter function library
|
10 |
#include "a2d.h" // include A/D converter function library
|
| 11 |
|
11 |
|
| 12 |
//----- Begin Code ------------------------------------------------------------
|
12 |
//----- Begin Code ------------------------------------------------------------
|
| 13 |
#define BUFLEN 64
|
13 |
#define BUFLEN 64
|
| 14 |
|
14 |
|
| 15 |
void radtodeg(double fi, u16 *deg, u08 *min, u08 *sec) //convert radians to degrees mins and seconds
|
15 |
void radtodeg(double fi, u16 *deg, u08 *min, u08 *sec) //convert radians to degrees mins and seconds
|
| 16 |
{
|
16 |
{
|
| 17 |
double pom;
|
17 |
double pom;
|
| 18 |
|
18 |
|
| 19 |
fi=fi*180/PI;
|
19 |
fi=fi*180/PI;
|
| 20 |
*deg=(u16)trunc(fi);
|
20 |
*deg=(u16)trunc(fi);
|
| 21 |
pom=(fi-(*deg))*60;
|
21 |
pom=(fi-(*deg))*60;
|
| 22 |
*min=(u08)trunc(pom);
|
22 |
*min=(u08)trunc(pom);
|
| 23 |
*sec=(u08)round((pom-(*min))*60);
|
23 |
*sec=(u08)round((pom-(*min))*60);
|
| 24 |
}
|
24 |
}
|
| 25 |
|
25 |
|
| 26 |
inline double quadraticerror(double average, double buf[], u16 size) // compute average quadratic error
|
26 |
inline double quadraticerror(double average, double buf[], u16 size) // compute average quadratic error
|
| 27 |
{
|
27 |
{
|
| 28 |
u16 i;
|
28 |
u16 i;
|
| 29 |
double err=0;
|
29 |
double err=0;
|
| 30 |
|
30 |
|
| 31 |
for(i=0; i<size; i++) err += square(buf[i]-average); // sum quadratic errors
|
31 |
for(i=0; i<size; i++) err += square(buf[i]-average); // sum quadratic errors
|
| 32 |
err = sqrt((1/size)*err);
|
32 |
err = sqrt((1/(double)size)*err);
|
| 33 |
return err;
|
33 |
return err;
|
| 34 |
}
|
34 |
}
|
| 35 |
|
35 |
|
| 36 |
int main(void)
|
36 |
int main(void)
|
| 37 |
{
|
37 |
{
|
| 38 |
u16 i,x,y;
|
38 |
u16 i,x,y;
|
| 39 |
double fi, err, fibuf[BUFLEN]; // buffer for recorded and computed values
|
39 |
double fi, err, fibuf[BUFLEN]; // buffer for recorded and computed values
|
| 40 |
u08 fi_min, fi_sec, err_min, err_sec; // computed angles
|
40 |
u08 fi_min, fi_sec, err_min, err_sec; // computed angles
|
| 41 |
u16 fi_deg, err_deg; // computed angles in whole degrees
|
41 |
u16 fi_deg, err_deg; // computed angles in whole degrees
|
| 42 |
|
42 |
|
| 43 |
// initialize some libraries
|
43 |
// initialize some libraries
|
| 44 |
// initialize the UART (serial port)
|
44 |
// initialize the UART (serial port)
|
| 45 |
uartInit();
|
45 |
uartInit();
|
| 46 |
uartSetBaudRate(0,9600);
|
46 |
uartSetBaudRate(0,9600);
|
| 47 |
// make all rprintf statements use uart for output
|
47 |
// make all rprintf statements use uart for output
|
| 48 |
rprintfInit(uart0SendByte);
|
48 |
rprintfInit(uart0SendByte);
|
| 49 |
// initialize the timer system
|
49 |
// initialize the timer system
|
| 50 |
timerInit();
|
50 |
timerInit();
|
| 51 |
// turn on and initialize A/D converter
|
51 |
// turn on and initialize A/D converter
|
| 52 |
a2dInit();
|
52 |
a2dInit();
|
| 53 |
// configure a2d port (PORTA) as input
|
53 |
// configure a2d port (PORTA) as input
|
| 54 |
// so we can receive analog signals
|
54 |
// so we can receive analog signals
|
| 55 |
DDRF = 0x00;
|
55 |
DDRF = 0x00;
|
| 56 |
// make sure pull-up resistors are turned off
|
56 |
// make sure pull-up resistors are turned off
|
| 57 |
PORTF = 0x00;
|
57 |
PORTF = 0x00;
|
| 58 |
|
58 |
|
| 59 |
// set the a2d prescaler (clock division ratio)
|
59 |
// set the a2d prescaler (clock division ratio)
|
| 60 |
// - a lower prescale setting will make the a2d converter go faster
|
60 |
// - a lower prescale setting will make the a2d converter go faster
|
| 61 |
// - a higher setting will make it go slower but the measurements
|
61 |
// - a higher setting will make it go slower but the measurements
|
| 62 |
// will be more accurate
|
62 |
// will be more accurate
|
| 63 |
// - other allowed prescale values can be found in a2d.h
|
63 |
// - other allowed prescale values can be found in a2d.h
|
| 64 |
a2dSetPrescaler(ADC_PRESCALE_DIV128);
|
64 |
a2dSetPrescaler(ADC_PRESCALE_DIV128);
|
| 65 |
|
65 |
|
| 66 |
// set the a2d reference
|
66 |
// set the a2d reference
|
| 67 |
// - the reference is the voltage against which a2d measurements are made
|
67 |
// - the reference is the voltage against which a2d measurements are made
|
| 68 |
// - other allowed reference values can be found in a2d.h
|
68 |
// - other allowed reference values can be found in a2d.h
|
| 69 |
a2dSetReference(ADC_REFERENCE_AREF);
|
69 |
a2dSetReference(ADC_REFERENCE_AREF);
|
| 70 |
|
70 |
|
| 71 |
// use a2dConvert8bit(channel#) to get an 8bit a2d reading
|
71 |
// use a2dConvert8bit(channel#) to get an 8bit a2d reading
|
| 72 |
// use a2dConvert10bit(channel#) to get a 10bit a2d reading
|
72 |
// use a2dConvert10bit(channel#) to get a 10bit a2d reading
|
| 73 |
|
73 |
|
| 74 |
rprintf("inklinometr 2009\r\n");
|
74 |
rprintf("inklinometr 2009\r\n");
|
| 75 |
|
75 |
|
| 76 |
while(1)
|
76 |
while(1)
|
| 77 |
{
|
77 |
{
|
| 78 |
fi=0;
|
78 |
fi=0;
|
| 79 |
err=0;
|
79 |
err=0;
|
| 80 |
for(i=0; i<BUFLEN; i++)
|
80 |
for(i=0; i<BUFLEN; i++)
|
| 81 |
{
|
81 |
{
|
| 82 |
x = a2dConvert10bit(ADC_CH_ADC0);
|
82 |
x = a2dConvert10bit(ADC_CH_ADC0);
|
| 83 |
y = a2dConvert10bit(ADC_CH_ADC1);
|
83 |
y = a2dConvert10bit(ADC_CH_ADC1);
|
| 84 |
fibuf[i] = atan2((double)x-511,(double)y-511); // record computed angles to buffer for post processing
|
84 |
fibuf[i] = atan2((double)x-511,(double)y-511); // record computed angles to buffer for post processing
|
| 85 |
}
|
85 |
}
|
| 86 |
for(i=0; i<BUFLEN; i++) fi += fibuf[i]; // sum recorded angles
|
86 |
for(i=0; i<BUFLEN; i++) fi += fibuf[i]; // sum recorded angles
|
| 87 |
fi = (fi/BUFLEN)+PI; // average recorded angles and expand product to whole circle
|
87 |
fi = (fi/BUFLEN)+PI; // average recorded angles and expand product to whole circle
|
| 88 |
|
88 |
|
| 89 |
err=quadraticerror(fi,fibuf,BUFLEN);
|
89 |
err=quadraticerror((fi-PI),fibuf,BUFLEN);
|
| 90 |
radtodeg(fi,&fi_deg,&fi_min,&fi_sec);
|
90 |
radtodeg(fi,&fi_deg,&fi_min,&fi_sec); //translate radians to degrees
|
| 91 |
radtodeg(err,&err_deg,&err_min,&err_sec);
|
91 |
radtodeg(err,&err_deg,&err_min,&err_sec);
|
| 92 |
|
92 |
|
| 93 |
rprintf("fi:%d.%d.%d +- %d.%d.%d \r\n", fi_deg, fi_min, fi_sec, err_deg, err_min, err_sec);
|
93 |
rprintf("fi:%d.%d.%d +- %d.%d.%d \r\n", fi_deg, fi_min, fi_sec, err_deg, err_min, err_sec);
|
| 94 |
delay_ms(20);
|
94 |
delay_ms(20);
|
| 95 |
}
|
95 |
}
|
| 96 |
return 0;
|
96 |
return 0;
|
| 97 |
}
|
97 |
}
|