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//*****************************************************************************
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// File Name	: a2dtest.c
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//
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// Title		: example usage of some avr library functions
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// Revision		: 1.0
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// Notes		:
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// Target MCU	: Atmel AVR series
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// Editor Tabs	: 4
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//
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// Revision History:
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// When			Who			Description of change
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// -----------	-----------	-----------------------
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// 20-Oct-2002	pstang		Created the program
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//*****************************************************************************
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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 "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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{
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  double pom;
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	fi=fi*180/PI;
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	*deg=(u16)trunc(fi);
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	pom=(fi-(*deg))*60;
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	*min=(u08)trunc(pom);
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	*sec=(u08)round((pom-(*min))*60);
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}
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inline double quadraticerror(double average, double buf[], u16 size)
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{
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  u16 i;
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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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	err = sqrt(err/(size-1))/sqrt(size);	// compute average quadratic error
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	return err;
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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];
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	double fi, err, fibuf[BUFLEN];
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	s16 fia, erra;
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	u08 fi_min, fi_sec, err_min, err_sec;
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	u16 fib, errb;
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	u16 fi_deg, err_deg;
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	// initialize our libraries
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	// initialize our 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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	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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	DDRA = 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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	PORTA = 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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	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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	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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			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) * 180.0 / PI;		// average recorded angles and convert product to degrees
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/*for(i=0; i<BUFLEN; i++)
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{
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		for(i=0; i<BUFLEN; i++) err += (fibuf[i]-fi)*(fibuf[i]-fi);		// sum cubic errors
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		err = sqrt(err/(BUFLEN-1))/sqrt(BUFLEN);	// compute average cubic error
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		erra = floor(err);
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	fibuf[i]=i;
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		errb = floor((err - erra)*1000);
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}*/
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		fia = floor(fi);
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		err=quadraticerror(fi,fibuf,BUFLEN);
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		fib = floor((fi - fia)*1000);
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		radtodeg(fi,&fi_deg,&fi_min,&fi_sec);
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		radtodeg(err,&err_deg,&err_min,&err_sec);
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		rprintf("fi:%d.%d  +- %d.%d \r\n", fia, fib, erra, errb);
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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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	}
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	}
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	return 0;
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	return 0;
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}
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}