int main()
{
std::vector<int> vecIntegers = {50, 1, 987, 1001};
std::cout << "Vector contains " << vecIntegers.size() << " elements: ";
DisplayVector(vecIntegers);
//Erase one element at the end
vecIntegers.pop_back();
std::cout << "After a call to pop_back() " << std::endl;
std::cout << "Vector contains " << vecIntegers.size() << " elements: ";
DisplayVector(vecIntegers);
return 0;
}
int main()
{
char powerfile[]="Power.txt";
GetPower(powerfile);
/*
* 声明核中的变量
*/
std::vector<double> Vcore;
std::vector<double> Rcore;
//std::vector<double> ecore;//核的热容中的电流源部分
//std::vector<double> rcore;//核的热容中的热阻部分
//std::vector<double> Ipoint;
/*
* 声明基底中的变量
*/
double Vbase(Tamb);
double Ibase;
double Rbase((r_conduct+r_fan)/A);//初始化基底的热阻，/@param A表示从密度换算
double ebase(0);
double rbase(h/(2*(c_conduct*A)));//初始化基底的热容中的热阻部分=@param h/2@param c，*@param A表示从密度换算
/*
* 初始化基底中的@param Vbase和@param ebase
*/
for(int i=0;i<CoreNumber;i++)
{
Rcore.push_back(r_bulk/Acore.at(i));//初始化核中的热阻，/@param Acore表示从密度换算
}
/*
* 初始化核中的@param Vcore和@param ecore
*/
for(int i=0;i<CoreNumber;i++)
{
Vcore.push_back(Tamb);
//rcore.push_back(h/(2*(c_bulk*Acore.at(i))));//初始化@param rcore=@param h/2@param c，*@param Acore表示从密度换算
//ecore.push_back(0);
}
/*
* 二级等效电路中，计算热阻和热容热阻部分的等效值
*/
std::vector<double> r;
for(int i=0;i<CoreNumber;i++)
{
r.push_back(Rcore.at(i));//计算等效值
}
double rtmp=r.at(0);//用来计算@param Vbase的临时变量，是所有@param rcore的并联值
double Itmp(0);
/*
* 计算@param Vbase时用到的热阻并联和
*/
for(int i=0;i<CoreNumber-1;i++)
{
rtmp=Pararlle(rtmp,r.at(i+1));//计算并联值
}
rtmp=Pararlle(rtmp,Pararlle(Rbase,rbase));//与@param Rbase并联
/*
* @brief 打开输出文件，并相应的打印表头
* 主要的输出内容：@param Vore、@param Pcore、@param Vbase、@param compareVbase
*/
std::ofstream Vout("Vcore.txt");
std::ofstream Pout("Pcore.txt");
std::ofstream Bout("Base.txt");
if(not Vout)
std::perror("Vcore.txt");
if(not Bout)
std::perror("Pcore.txt");
if(not Pout)
std::perror("Base.txt");
Vout.precision(SetPrecision);
Bout.precision(SetPrecision);
Pout.precision(SetPrecision);
for(int i=0;i<CoreNumber;i++)
Pout<<std::setw(SetWidth)<<std::right<<"Pcore("<<i+1<<")";
Pout<<"\n";
for(int i=0;i<CoreNumber;i++)
Vout<<std::setw(SetWidth)<<std::right<<"Vcore("<<i+1<<")";
Vout<<std::endl;
Bout<<std::setw(SetWidth)<<"R(bc)Cb="<<Pararlle(Rbase,Rcore[0])*c_conduct<<"\n";
Bout<<std::setw(SetWidth)<<"VBase";
Bout<<std::setw(SetWidth)<<"Charge"<<"\n";
std::vector<double> Vref;
std::vector<double> newPower;
for(int i=0;i<CoreNumber;i++)
{
Vref.push_back(Vcore.at(i));
newPower.push_back(CorePower.at(i));
}
double eps(1);
double compareVbase(0);
do
{
for(std::vector<double>::iterator i=Vcore.begin();i!=Vcore.end();i++)
Vout<<std::setw(SetWidth)<<*i+amb<<"\t";
Vout<<std::endl;
for(std::vector<double>::iterator i=newPower.begin();i!=newPower.end();i++)
Pout<<std::setw(SetWidth)<<*i;
Pout<<"\n";
Bout<<std::setw(SetWidth)<<Vbase;
Bout<<std::setw(SetWidth)<<compareVbase<<"\n";
for(int i=0;i<CoreNumber;i++)
{
Vref.at(i)=Vcore.at(i);
}
/*
* 刷新@param Vbase以及@param ebase
*/
Itmp=0;//用来计算@param Vbase的临时变量，是所有核内电流的和
for(int j=0;j<CoreNumber;j++)
{
newPower.at(j)=CorePower.at(j)+LeakagePower(Vcore.at(j));//刷新实际的功耗值(密度)=源功耗+漏电流功耗
//Ipoint.at(j)=(newPower.at(j)*rcore.at(j)/r.at(j));
Itmp+=newPower.at(j);//计算@param Itmp，需要每次刷新
}
Itmp+=ebase;
/*
* 刷新@param Vcore，@param Vbase的值
*/
Vbase=rtmp*Itmp;
double SumNewPower=0;//计算所有核的实际功耗总值，用以计算稳定@param Vcore以及充电曲线中的@param Vbase
for(int i=0;i<CoreNumber;i++)
{
SumNewPower+=newPower.at(i);
}
compareVbase=ChargeLine(SumNewPower,Rbase,c_conduct*A,IterNumber++);//注意：@param Cbase=@param c_conduct*@param A
for(int i=0;i<CoreNumber;i++)
{
Vcore.at(i)=Vbase+newPower.at(i)*Rcore.at(i);
}
/*
* 刷新@param Ibase，@param ebase的值
*/
Ibase=0;
for(int i=0;i<CoreNumber;i++)
{
Ibase+=(Vcore.at(i)-Vbase)/Rcore.at(i);
}
Ibase+=-Vbase/Rbase;
ebase=Vbase/rbase+Ibase;//计算@param ebase，需要每次刷新
/*
* 根据@param eps（@param Icore的前后迭代差）判断迭代的收敛情况
*/
eps=0;
for(int i=0;i<CoreNumber;i++)
{
Vref.at(i)=std::fabs(Vref.at(i)-Vcore.at(i));
eps=std::max(Vref.at(i),eps);
}
}while(std::fabs(eps)>0.000001);
std::vector<double> Vstable=StableVcore(newPower,Rcore,Rbase);//@param Vstable看作是理论稳定温度 注意：计算中用的是新的稳定后的功耗向量
char charVstable[]="Vstable";
DisplayVector(Vstable,charVstable);//输出稳定温度值用来对比而已（打开Vstable.txt）
Vout.close();
Bout.close();
Pout.close();
return 0;
}
void DisplayVectorEndl(std::ostream & out, const std::vector<T> &v, const std::string &delim=" ") {
DisplayVector(out,v,delim);
out << std::endl;
}
void EndlDisplayVector(std::ostream & out, const std::vector<T> &v, const std::string &delim=" ") {
out << std::endl;
DisplayVector(out,v,delim);
}
int main()
{
SerialDebug(250000); //PrintString() and PrintFloat() using UART
BeginBasics();
Blink();
Enable_PeriphClock();
/*Roll-0 Pitch-1 Yaw-2..Roll rotation around X axis.Pitch rotation around Y axis and Yaw rotation around Z axis
note: It does not mean rotation along the X Y or Z axis*/
float RPY_c[3],RPY_k[3]; //RPY_c and RPY_k..Roll pitch and yaw obtained from complemntary filter and kalman filter
float Accel[3],Gyro[3],Tempreature; //raw values
float Accel_RealWorld[3]; //Real World Acceleration
while(Init_I2C(400)){PrintString("\nI2C Connection Error");}
while(MPU6050_Init()){PrintString("MPU6050 Initialization Error");}
MPU6050_UpdateOffsets(&MPU6050_Offsets[0]);
//MPU6050_ConfirmOffsets(&MPU6050_Offsets[0]);
while(0) //to play around with quaternions and vector rotation
{
float vector[3]= {1,0,0};
float axis_vector[3]= {0,1,0}; //rotate around Y axis
float rot_angle=90; //with 90 degrees
Quaternion q;
q=RotateVectorY(vector,rot_angle); //Rotates vector around Y axis with rot_angle
PrintString("\nRotated Vector's Quaternion\t");
DisplayQ(q);
PrintString("\n");
}
while(1)
{
MPU6050_GetRaw(&Accel[0],&Gyro[0],&Tempreature); //Reads MPU6050 Raw Data Buffer..i.e Accel Gyro and Tempreature values
if(Gyro[2]<0.3 && Gyro[2]>-0.3) Gyro[2]=0; //this actually reduces Yaw drift..will add magnetometer soon
spudnut=tics(); //tics() return current timing info..using SysTick running at CPU_Core_Frequency/8..Counter Runs from 0xFFFFFF to 0 therefore overflows every 1.864135 secs
delt=spudnut-donut; //small time dt
donut=spudnut;
//Display_Raw(Accel,Gyro,Tempreature);
Attitude_k(Accel,Gyro,RPY_k,delt); //Estimates YPR using Kalman
PrintString("\nYPR\t");
PrintFloat(RPY_k[2]);
PrintString("\t");
PrintFloat(RPY_k[1]);
PrintString("\t");
PrintFloat(RPY_k[0]);
RemoveGravity(RPY_k,Accel,Accel_RealWorld);
PrintString("\tReal World Accel with Gravity\t"); //still glitchish..working on it
DisplayVector(Accel_RealWorld);
PrintString("\t");
PrintFloat(1/delt);
}
}
