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	pom=(fi-(*deg))*60;
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	pom=(fi-(*deg))*60;
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	*min=(u08)trunc(pom);
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	*min=(u08)trunc(pom);
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	*sec=(u08)round((pom-(*min))*60);
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	*sec=(u08)round((pom-(*min))*60);
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}
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}
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inline double quadraticerror(double average, double buf[], u16 size)
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inline double quadraticerror(double average, double buf[], u16 size) // compute average quadratic error
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{
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{
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  u16 i;
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  u16 i;
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  double err=0;
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  double err=0;
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	for(i=0; i<size; i++) err += square(buf[i]-average);		// sum quadratic errors
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	for(i=0; i<size; i++) err += square(buf[i]-average);		// sum quadratic errors
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	err = sqrt(err/(size-1))/sqrt(size);	// compute average quadratic error
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	err = sqrt((1/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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int main(void)
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int main(void)
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{
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{
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	u16 i,x,y;
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	u16 i,x,y;
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	double fi, err, fibuf[BUFLEN];
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	double fi, err, fibuf[BUFLEN];		// buffer for recorded and computed values
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	u08 fi_min, fi_sec, err_min, err_sec;
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	u08 fi_min, fi_sec, err_min, err_sec;	// computed angles
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	u16 fi_deg, err_deg;
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	u16 fi_deg, err_deg;		// computed angles in whole degrees
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	// initialize our libraries
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	// initialize some libraries
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	// initialize the UART (serial port)
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	// initialize the UART (serial port)
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	uartInit();
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	uartInit();
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	uartSetBaudRate(0,9600);
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	uartSetBaudRate(0,9600);
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	// make all rprintf statements use uart for output
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	// make all rprintf statements use uart for output
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	rprintfInit(uart0SendByte);
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	rprintfInit(uart0SendByte);
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			fibuf[i] = atan2((double)x-511,(double)y-511);		// record computed angles to buffer for post processing
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			fibuf[i] = atan2((double)x-511,(double)y-511);		// record computed angles to buffer for post processing
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		}
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		}
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		for(i=0; i<BUFLEN; i++) fi += fibuf[i];		// sum recorded angles
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		for(i=0; i<BUFLEN; i++) fi += fibuf[i];		// sum recorded angles
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		fi = (fi/BUFLEN)+PI;		// average recorded angles and expand product to whole circle
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		fi = (fi/BUFLEN)+PI;		// average recorded angles and expand product to whole circle
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/*for(i=0; i<BUFLEN; i++)
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{
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	fibuf[i]=i;
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}*/
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- 
 
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		err=quadraticerror(fi,fibuf,BUFLEN);
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		err=quadraticerror(fi,fibuf,BUFLEN);
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		radtodeg(fi,&fi_deg,&fi_min,&fi_sec);
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		radtodeg(fi,&fi_deg,&fi_min,&fi_sec);
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		radtodeg(err,&err_deg,&err_min,&err_sec);
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		radtodeg(err,&err_deg,&err_min,&err_sec);
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		rprintf("fi:%d.%d.%d  +- %d.%d.%d \r\n", fi_deg, fi_min, fi_sec, err_deg, err_min, err_sec);
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		rprintf("fi:%d.%d.%d  +- %d.%d.%d \r\n", fi_deg, fi_min, fi_sec, err_deg, err_min, err_sec);