| 0,0 → 1,85 |
|---|
| #include "main.h" |
| |
| #define REV "$Rev$" |
| |
| unsigned int32 time; // pocitadlo preteceni casovace |
| |
| #define BUFLEN 100 |
| |
| #int_RTCC |
| void RTCC_isr(void) // preruseni od pretekleho casovace |
| { |
| time++; |
| } |
| |
| // Includes all USB code and interrupts, as well as the CDC API |
| #include <usb_cdc.h> |
| #include <math.h> |
| |
| float quadraticerror(float average, float buf[], int16 size) // compute average quadratic error |
| { |
| int16 i; |
| float err=0; |
| |
| for(i=0; i<size; i++) err += (buf[i]-average)*(buf[i]-average); // sum quadratic errors |
| err = sqrt((1/(float)size)*err); |
| return err; |
| } |
| |
| void main() |
| { |
| |
| float x[BUFLEN], y[BUFLEN], z[BUFLEN]; |
| float xavg, yavg, zavg; |
| int i; |
| port_b_pullups(FALSE); |
| setup_psp(PSP_DISABLED); |
| setup_spi(SPI_SS_DISABLED); |
| setup_wdt(WDT_OFF); |
| setup_timer_0(RTCC_INTERNAL|RTCC_DIV_256); |
| setup_timer_1(T1_DISABLED); |
| setup_timer_2(T2_DISABLED,0,1); |
| setup_timer_3(T3_DISABLED|T3_DIV_BY_1); |
| setup_comparator(NC_NC_NC_NC); |
| setup_vref(FALSE); |
| enable_interrupts(INT_TIMER0); |
| enable_interrupts(GLOBAL); |
| |
| setup_adc_ports(AN0_TO_AN2|VSS_VREF); |
| setup_adc(ADC_CLOCK_DIV_32); |
| |
| usb_init(); // initialise USB module |
| |
| while(!usb_cdc_connected()); |
| time=0; |
| set_timer0(0); |
| printf(usb_cdc_putc,"time[s] X Xerr Y Yerr Z Zerr \n\r"); |
| |
| while(usb_cdc_connected()) // pockej nez se pripoji seriovy port PC |
| { |
| for(i=0; i <BUFLEN; i++) |
| { |
| set_adc_channel(0); |
| delay_us(10); |
| x[i]=read_adc(); |
| xavg+=x[i]; |
| |
| set_adc_channel(1); |
| delay_us(10); |
| y[i]=read_adc(); |
| yavg+=y[i]; |
| |
| set_adc_channel(2); |
| delay_us(10); |
| z[i]=read_adc(); |
| zavg+=z[i]; |
| } |
| |
| xavg=xavg/BUFLEN; |
| yavg=yavg/BUFLEN; |
| zavg=zavg/BUFLEN; |
| |
| // odesli namerene hodnoty |
| 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] |
| } |
| } |