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#include "main.h"
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#include "main.h"
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#define REV "$Rev$"
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#define REV "$Rev$"
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unsigned int32 time;   // pocitadlo preteceni casovace
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unsigned int32 time;   // pocitadlo preteceni casovace
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#define BUFLEN 100
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#define BUFLEN 100
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#int_RTCC
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#int_RTCC
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void  RTCC_isr(void)    // preruseni od pretekleho casovace
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void  RTCC_isr(void)    // preruseni od pretekleho casovace
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{
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{
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  time++;
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  time++;
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}
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}
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// Includes all USB code and interrupts, as well as the CDC API
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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 <usb_cdc.h>
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#include <math.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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float quadraticerror(float average, float buf[], int16 size) // compute average quadratic error
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{
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{
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  int16 i;
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  int16 i;
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  float err=0;
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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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   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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   err = sqrt((1/(float)size)*err);
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   return err;
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   return err;
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}
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}
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void main()
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void main()
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{
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{
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float x[BUFLEN], y[BUFLEN], z[BUFLEN];
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float x[BUFLEN], y[BUFLEN], z[BUFLEN];
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float xavg, yavg, zavg;
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float xavg, yavg, zavg;
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int i;
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int i;
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   port_b_pullups(FALSE);
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   port_b_pullups(FALSE);
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   setup_psp(PSP_DISABLED);
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   setup_psp(PSP_DISABLED);
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   setup_spi(SPI_SS_DISABLED);
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   setup_spi(SPI_SS_DISABLED);
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   setup_wdt(WDT_OFF);
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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_0(RTCC_INTERNAL|RTCC_DIV_256);
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   setup_timer_1(T1_DISABLED);
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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_2(T2_DISABLED,0,1);
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   setup_timer_3(T3_DISABLED|T3_DIV_BY_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_comparator(NC_NC_NC_NC);
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   setup_vref(FALSE);
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   setup_vref(FALSE);
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   enable_interrupts(INT_TIMER0);
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   enable_interrupts(INT_TIMER0);
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   enable_interrupts(GLOBAL);
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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_ports(AN0_TO_AN2|VSS_VREF);
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   setup_adc(ADC_CLOCK_DIV_64);
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   setup_adc(ADC_CLOCK_DIV_64);
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   usb_init(); // initialise USB module
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   usb_init(); // initialise USB module
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   while (TRUE)
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   while (TRUE)
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   {
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   {
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   while(!usb_cdc_connected());
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   while(!usb_cdc_connected());
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   time=0;
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   time=0;
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   set_timer0(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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   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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   while(usb_cdc_connected())  // pockej nez se pripoji seriovy port PC
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   {
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   {
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      for(i=0; i <BUFLEN; i++)
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      for(i=0; i <BUFLEN; i++)
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      {
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      {
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         set_adc_channel(0);
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         set_adc_channel(0);
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         delay_us(10);
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         delay_us(10);
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         x[i]=read_adc();
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         x[i]=read_adc();
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         xavg+=x[i];
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         xavg+=x[i];
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         set_adc_channel(1);
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         set_adc_channel(1);
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         delay_us(10);
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         delay_us(10);
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         y[i]=read_adc();
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         y[i]=read_adc();
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         yavg+=y[i];
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         yavg+=y[i];
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         set_adc_channel(2);
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         set_adc_channel(2);
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         delay_us(10);
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         delay_us(10);
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         z[i]=read_adc();
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         z[i]=read_adc();
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         zavg+=z[i];
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         zavg+=z[i];
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      }
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      }
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      xavg=xavg/BUFLEN;
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      xavg=xavg/BUFLEN;
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      yavg=yavg/BUFLEN;
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      yavg=yavg/BUFLEN;
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      zavg=zavg/BUFLEN;
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      zavg=zavg/BUFLEN;
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      // odesli namerene hodnoty
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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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      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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 }
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 }
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}
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}