| 656 |
kaklik |
1 |
#include "main.h"
|
|
|
2 |
|
|
|
3 |
#define REV "$Rev$"
|
|
|
4 |
|
|
|
5 |
unsigned int32 time; // pocitadlo preteceni casovace
|
|
|
6 |
|
|
|
7 |
#define BUFLEN 100
|
|
|
8 |
|
|
|
9 |
#int_RTCC
|
|
|
10 |
void RTCC_isr(void) // preruseni od pretekleho casovace
|
|
|
11 |
{
|
|
|
12 |
time++;
|
|
|
13 |
}
|
|
|
14 |
|
|
|
15 |
// Includes all USB code and interrupts, as well as the CDC API
|
|
|
16 |
#include <usb_cdc.h>
|
|
|
17 |
#include <math.h>
|
|
|
18 |
|
|
|
19 |
float quadraticerror(float average, float buf[], int16 size) // compute average quadratic error
|
|
|
20 |
{
|
|
|
21 |
int16 i;
|
|
|
22 |
float err=0;
|
|
|
23 |
|
|
|
24 |
for(i=0; i<size; i++) err += (buf[i]-average)*(buf[i]-average); // sum quadratic errors
|
|
|
25 |
err = sqrt((1/(float)size)*err);
|
|
|
26 |
return err;
|
|
|
27 |
}
|
|
|
28 |
|
|
|
29 |
void main()
|
|
|
30 |
{
|
|
|
31 |
|
|
|
32 |
float x[BUFLEN], y[BUFLEN], z[BUFLEN];
|
|
|
33 |
float xavg, yavg, zavg;
|
|
|
34 |
int i;
|
|
|
35 |
port_b_pullups(FALSE);
|
|
|
36 |
setup_psp(PSP_DISABLED);
|
|
|
37 |
setup_spi(SPI_SS_DISABLED);
|
|
|
38 |
setup_wdt(WDT_OFF);
|
|
|
39 |
setup_timer_0(RTCC_INTERNAL|RTCC_DIV_256);
|
|
|
40 |
setup_timer_1(T1_DISABLED);
|
|
|
41 |
setup_timer_2(T2_DISABLED,0,1);
|
|
|
42 |
setup_timer_3(T3_DISABLED|T3_DIV_BY_1);
|
|
|
43 |
setup_comparator(NC_NC_NC_NC);
|
|
|
44 |
setup_vref(FALSE);
|
|
|
45 |
enable_interrupts(INT_TIMER0);
|
|
|
46 |
enable_interrupts(GLOBAL);
|
|
|
47 |
|
|
|
48 |
setup_adc_ports(AN0_TO_AN2|VSS_VDD);
|
|
|
49 |
setup_adc(ADC_CLOCK_DIV_64);
|
|
|
50 |
|
|
|
51 |
usb_init(); // initialise USB module
|
|
|
52 |
|
|
|
53 |
while (TRUE)
|
|
|
54 |
{
|
|
|
55 |
|
|
|
56 |
while(!usb_cdc_connected());
|
|
|
57 |
printf(usb_cdc_putc,"time[s] x xerr y yerr z zerr \nr");
|
|
|
58 |
|
|
|
59 |
while(usb_cdc_connected()) // pockej nez se pripoji seriovy port PC
|
|
|
60 |
{
|
|
|
61 |
for(i=0; i <BUFLEN; i++)
|
|
|
62 |
{
|
|
|
63 |
set_adc_channel(1);
|
|
|
64 |
delay_us(10);
|
|
|
65 |
x[i]=read_adc();
|
|
|
66 |
xavg+=x[i];
|
|
|
67 |
|
|
|
68 |
set_adc_channel(1);
|
|
|
69 |
delay_us(10);
|
|
|
70 |
y[i]=read_adc();
|
|
|
71 |
yavg+=y[i];
|
|
|
72 |
|
|
|
73 |
set_adc_channel(1);
|
|
|
74 |
delay_us(10);
|
|
|
75 |
z[i]=read_adc();
|
|
|
76 |
zavg+=z[i];
|
|
|
77 |
}
|
|
|
78 |
|
|
|
79 |
xavg=xavg/BUFLEN;
|
|
|
80 |
yavg=yavg/BUFLEN;
|
|
|
81 |
zavg=zavg/BUFLEN;
|
|
|
82 |
|
|
|
83 |
// odesli namerene hodnoty
|
|
|
84 |
printf(usb_cdc_putc, "%7.3f %4.3f %4.3f %4.3f %4.3f %4.3f %4.3f \n\r",((time << 16) + get_timer0())/15625.0, xavg, quadraticerror(xavg,x,BUFLEN), yavg, quadraticerror(yavg,y,BUFLEN), zavg, quadraticerror(zavg,z,BUFLEN)); //konstanta k je kvuli prevodu do rozzumnych jednotek [s]
|
|
|
85 |
}
|
|
|
86 |
}
|
|
|
87 |
}
|