Rev 1504 Rev 1858
1 #include "main.h" 1 #include "main.h"
2   2  
3 #define REV "$Rev$" 3 #define REV "$Rev$"
4   4  
5 unsigned int32 time; // pocitadlo preteceni casovace 5 unsigned int32 time; // pocitadlo preteceni casovace
6   6  
7 #define BUFLEN 100 7 #define BUFLEN 100
8   8  
9 #int_RTCC 9 #int_RTCC
10 void RTCC_isr(void) // preruseni od pretekleho casovace 10 void RTCC_isr(void) // preruseni od pretekleho casovace
11 { 11 {
12 time++; 12 time++;
13 } 13 }
14   14  
15 // Includes all USB code and interrupts, as well as the CDC API 15 // Includes all USB code and interrupts, as well as the CDC API
16 #include <usb_cdc.h> 16 #include <usb_cdc.h>
17 #include <math.h> 17 #include <math.h>
18   18  
19 float quadraticerror(float average, float buf[], int16 size) // compute average quadratic error 19 float quadraticerror(float average, float buf[], int16 size) // compute average quadratic error
20 { 20 {
21 int16 i; 21 int16 i;
22 float err=0; 22 float err=0;
23   23  
24 for(i=0; i<size; i++) err += (buf[i]-average)*(buf[i]-average); // sum quadratic errors 24 for(i=0; i<size; i++) err += (buf[i]-average)*(buf[i]-average); // sum quadratic errors
25 err = sqrt((1/(float)size)*err); 25 err = sqrt((1/(float)size)*err);
26 return err; 26 return err;
27 } 27 }
28   28  
29 void main() 29 void main()
30 { 30 {
31   31  
32 float x[BUFLEN], y[BUFLEN], z[BUFLEN]; 32 float x[BUFLEN], y[BUFLEN], z[BUFLEN];
33 float xavg, yavg, zavg; 33 float xavg, yavg, zavg;
34 int i; 34 int i;
35 port_b_pullups(FALSE); 35 port_b_pullups(FALSE);
36 setup_psp(PSP_DISABLED); 36 setup_psp(PSP_DISABLED);
37 setup_spi(SPI_SS_DISABLED); 37 setup_spi(SPI_SS_DISABLED);
38 setup_wdt(WDT_OFF); 38 setup_wdt(WDT_OFF);
39 setup_timer_0(RTCC_INTERNAL|RTCC_DIV_256); 39 setup_timer_0(RTCC_INTERNAL|RTCC_DIV_256);
40 setup_timer_1(T1_DISABLED); 40 setup_timer_1(T1_DISABLED);
41 setup_timer_2(T2_DISABLED,0,1); 41 setup_timer_2(T2_DISABLED,0,1);
42 setup_timer_3(T3_DISABLED|T3_DIV_BY_1); 42 setup_timer_3(T3_DISABLED|T3_DIV_BY_1);
43 setup_comparator(NC_NC_NC_NC); 43 setup_comparator(NC_NC_NC_NC);
44 setup_vref(FALSE); 44 setup_vref(FALSE);
45 enable_interrupts(INT_TIMER0); 45 enable_interrupts(INT_TIMER0);
46 enable_interrupts(GLOBAL); 46 enable_interrupts(GLOBAL);
47 47
48 setup_adc_ports(AN0_TO_AN2|VSS_VREF); 48 setup_adc_ports(AN0_TO_AN2|VSS_VREF);
49 setup_adc(ADC_CLOCK_DIV_32); 49 setup_adc(ADC_CLOCK_DIV_32);
50   50  
51 usb_init(); // initialise USB module 51 usb_init(); // initialise USB module
52 52
53 while(!usb_cdc_connected()); 53 while(!usb_cdc_connected());
54 time=0; 54 time=0;
55 set_timer0(0); 55 set_timer0(0);
56 printf(usb_cdc_putc,"time[s] X Xerr Y Yerr Z Zerr \n\r"); 56 printf(usb_cdc_putc,"time[s] X Xerr Y Yerr Z Zerr \n\r");
57   57  
58 while(usb_cdc_connected()) // pockej nez se pripoji seriovy port PC 58 while(usb_cdc_connected()) // pockej nez se pripoji seriovy port PC
59 { 59 {
60 for(i=0; i <BUFLEN; i++) 60 for(i=0; i <BUFLEN; i++)
61 { 61 {
62 set_adc_channel(0); 62 set_adc_channel(0);
63 delay_us(10); 63 delay_us(10);
64 x[i]=read_adc(); 64 x[i]=read_adc();
65 xavg+=x[i]; 65 xavg+=x[i];
66 66
67 set_adc_channel(1); 67 set_adc_channel(1);
68 delay_us(10); 68 delay_us(10);
69 y[i]=read_adc(); 69 y[i]=read_adc();
70 yavg+=y[i]; 70 yavg+=y[i];
71   71  
72 set_adc_channel(2); 72 set_adc_channel(2);
73 delay_us(10); 73 delay_us(10);
74 z[i]=read_adc(); 74 z[i]=read_adc();
75 zavg+=z[i]; 75 zavg+=z[i];
76 } 76 }
77 77
78 xavg=xavg/BUFLEN; 78 xavg=xavg/BUFLEN;
79 yavg=yavg/BUFLEN; 79 yavg=yavg/BUFLEN;
80 zavg=zavg/BUFLEN; 80 zavg=zavg/BUFLEN;
81   81  
82 // odesli namerene hodnoty 82 // odesli namerene hodnoty
83 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] 83 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]
84 } 84 }
85 } 85 }