Subversion Repositories svnkaklik

Rev

Rev 507 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log

Rev 507 Rev 508
Line 17... Line 17...
17 
#include <avr/io.h>		// include I/O definitions (port names, pin names, etc)
 17 
#include <avr/io.h>		// include I/O definitions (port names, pin names, etc)
18 
#include <avr/interrupt.h>	// include interrupt support
 18 
#include <avr/interrupt.h>	// include interrupt support
19 
#include <math.h>
 19 
#include <math.h>
20 
 
 20 
 
21 
#include "global.h"		// include our global settings
 21 
#include "global.h"		// include our global settings
22 
#include "uart.h"		// include uart function library
 22 
#include "uart2.h"		// include uart function library
23 
#include "rprintf.h"	// include printf function library
 23 
#include "rprintf.h"	// include printf function library
24 
#include "timer.h"		// include timer function library (timing, PWM, etc)
 24 
#include "timer.h"		// include timer function library (timing, PWM, etc)
25 
#include "a2d.h"		// include A/D converter function library
 25 
#include "a2d.h"		// include A/D converter function library
26 
 
 26 
 
27 
//----- Begin Code ------------------------------------------------------------
 27 
//----- Begin Code ------------------------------------------------------------
28 
#define BUFLEN 32
 28 
#define BUFLEN 64
29 
 
 29 
 
30 
int main(void)
 30 
int main(void)
31 
{
 31 
{
32 
	u08 i=0;
 - 
 
33 
	s16 x=0,y=0;
 32 
	u16 i,x,y;
34 
	double fi;
 33 
	double fi, err, fibuf[BUFLEN];
35 
	s16 fia;
 34 
	s16 fia, erra;
36 
	u16 fib;
 35 
	u16 fib, errb;
37 
 
 36 
 
38 
	// initialize our libraries
 37 
	// initialize our libraries
39 
	// initialize the UART (serial port)
 38 
	// initialize the UART (serial port)
40 
	uartInit();
 39 
	uartInit();
41 
	uartSetBaudRate(9600);
 40 
	uartSetBaudRate(0,9600);
42 
	// make all rprintf statements use uart for output
 41 
	// make all rprintf statements use uart for output
43 
	rprintfInit(uartSendByte);
 42 
	rprintfInit(uart0SendByte);
44 
	// initialize the timer system
 43 
	// initialize the timer system
45 
	timerInit();
 44 
	timerInit();
46 
	// turn on and initialize A/D converter
 45 
	// turn on and initialize A/D converter
47 
	a2dInit();
46 
	a2dInit();
48 
	// configure a2d port (PORTA) as input
 47 
	// configure a2d port (PORTA) as input
49 
	// so we can receive analog signals
 48 
	// so we can receive analog signals
50 
	DDRC = 0x00;
 49 
	DDRA = 0x00;
51 
	// make sure pull-up resistors are turned off
 50 
	// make sure pull-up resistors are turned off
52 
	PORTC = 0x00;
 51 
	PORTA = 0x00;
53 
 
 52 
 
54 
	// set the a2d prescaler (clock division ratio)
 53 
	// set the a2d prescaler (clock division ratio)
55 
	// - a lower prescale setting will make the a2d converter go faster
 54 
	// - a lower prescale setting will make the a2d converter go faster
56 
	// - a higher setting will make it go slower but the measurements
 55 
	// - a higher setting will make it go slower but the measurements
57 
	//   will be more accurate
 56 
	//   will be more accurate
Line 66... Line 65...
66 
	// use a2dConvert8bit(channel#) to get an 8bit a2d reading
 65 
	// use a2dConvert8bit(channel#) to get an 8bit a2d reading
67 
	// use a2dConvert10bit(channel#) to get a 10bit a2d reading
 66 
	// use a2dConvert10bit(channel#) to get a 10bit a2d reading
68 
 
 67 
 
69 
	while(1)
 68 
	while(1)
70 
	{
 69 
	{
- 
 
 70 
		fi=0;
- 
 
 71 
		err=0;
71 
		for(i=0; i<BUFLEN; i++)
 72 
		for(i=0; i<BUFLEN; i++)
72 
		{
 73 
		{
73 
			x += a2dConvert10bit(0);
 74 
			x = a2dConvert10bit(ADC_CH_ADC0);
74 
			y += a2dConvert10bit(1);
 75 
			y = a2dConvert10bit(ADC_CH_ADC1);
- 
 
 76 
			fibuf[i] = atan2((double)x-511,(double)y-511);		// record computed angles to buffer for post processing
75 
		}
 77 
		}
76 
		x = x/BUFLEN - 512;
 - 
 
77 
		y = y/BUFLEN - 512;
 78 
		for(i=0; i<BUFLEN; i++) fi += fibuf[i];		// sum recorded angles
78 
 
 79 
 
- 
 
 80 
		fi = ((fi/BUFLEN)+PI) * 180.0 / PI;		// average recorded angles and convert product to degrees
- 
 
 81 
 
- 
 
 82 
		for(i=0; i<BUFLEN; i++) err += (fibuf[i]-fi)*(fibuf[i]-fi);		// sum cubic errors
- 
 
 83 
		err = sqrt(err/(BUFLEN-1))/sqrt(BUFLEN);	// compute average cubic error
- 
 
 84 
		erra = floor(err);
79 
		fi = atan2(y,x) * 180.0 / PI;
 85 
		errb = floor((err - erra)*1000);
- 
 
 86
80 
		fia = floor(fi);
 87 
		fia = floor(fi);
81 
		fib = floor((fi - fia));
 88 
		fib = floor((fi - fia)*1000);
- 
 
 89 
 
- 
 
 90
82 
		rprintf("X:%d Y:%d fi:%d.%d \r\n", x, y, fia, fib);
 91 
		rprintf("fi:%d.%d  +- %d.%d \r\n", fia, fib, erra, errb);
83 
	}
 92 
	}
84
- 
 
85 
	return 0;
 93 
	return 0;
86 
}
 94 
}