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kaklik |
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#include "main.h" |
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#define REV "$Rev$" |
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unsigned int32 time; // pocitadlo preteceni casovace |
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#define BUFLEN 100 |
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#int_RTCC |
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void RTCC_isr(void) // preruseni od pretekleho casovace |
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{ |
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time++; |
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} |
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// Includes all USB code and interrupts, as well as the CDC API |
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#include <usb_cdc.h> |
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#include <math.h> |
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float quadraticerror(float average, float buf[], int16 size) // compute average quadratic error |
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{ |
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int16 i; |
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float err=0; |
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for(i=0; i<size; i++) err += (buf[i]-average)*(buf[i]-average); // sum quadratic errors |
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err = sqrt((1/(float)size)*err); |
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return err; |
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} |
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void main() |
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{ |
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float x[BUFLEN], y[BUFLEN], z[BUFLEN]; |
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float xavg, yavg, zavg; |
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int i; |
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port_b_pullups(FALSE); |
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setup_psp(PSP_DISABLED); |
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setup_spi(SPI_SS_DISABLED); |
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setup_wdt(WDT_OFF); |
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setup_timer_0(RTCC_INTERNAL|RTCC_DIV_256); |
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setup_timer_1(T1_DISABLED); |
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setup_timer_2(T2_DISABLED,0,1); |
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setup_timer_3(T3_DISABLED|T3_DIV_BY_1); |
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setup_comparator(NC_NC_NC_NC); |
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setup_vref(FALSE); |
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enable_interrupts(INT_TIMER0); |
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enable_interrupts(GLOBAL); |
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setup_adc_ports(AN0_TO_AN2|VSS_VREF); |
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setup_adc(ADC_CLOCK_DIV_64); |
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usb_init(); // initialise USB module |
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while (TRUE) |
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{ |
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while(!usb_cdc_connected()); |
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time=0; |
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set_timer0(0); |
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printf(usb_cdc_putc,"time[s] X Xerr Y Yerr Z Zerr \n\r"); |
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while(usb_cdc_connected()) // pockej nez se pripoji seriovy port PC |
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{ |
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for(i=0; i <BUFLEN; i++) |
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{ |
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set_adc_channel(0); |
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delay_us(10); |
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x[i]=read_adc(); |
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xavg+=x[i]; |
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set_adc_channel(1); |
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delay_us(10); |
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y[i]=read_adc(); |
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yavg+=y[i]; |
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set_adc_channel(2); |
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delay_us(10); |
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z[i]=read_adc(); |
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zavg+=z[i]; |
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} |
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xavg=xavg/BUFLEN; |
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yavg=yavg/BUFLEN; |
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zavg=zavg/BUFLEN; |
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// odesli namerene hodnoty |
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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] |
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} |
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} |
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} |