//calculate all points/vertices in the bezier patch
Point BezierPatch::Calculate(float u,float v) {
Point temp[4];
// calculate each point on our final v curve
temp[0] = CalculateU(u,0);
temp[1] = CalculateU(u,1);
temp[2] = CalculateU(u,2);
temp[3] = CalculateU(u,3);
// final point
return CalculateV(v,temp);
}
void ConcentrateInit(int k){
double **dm = malloc(sizeof(double*)* GetDataSize());
int i;
for (i = 0; i < GetDataSize(); ++i)
dm[i] = malloc(sizeof(double)* GetDataSize());
int j;
for (i = 0; i < GetDataSize(); ++i)
for (j = i; j < GetDataSize(); ++j){
value v1, v2;
GetIthData(i, &v1);
GetIthData(j, &v2);
dm[i][j] = data.distance(&v1, &v2);
dm[j][i] = dm[i][j];
}
double *v = malloc(sizeof(double)* GetDataSize());
int *vPos = malloc(sizeof(int)* GetDataSize());
double *lineSum = malloc(sizeof(double)* GetDataSize());
for (i = 0; i < GetDataSize(); ++i){
lineSum[i] = 0;
for (j = 0; j < GetDataSize(); ++j)
lineSum[i] += dm[i][j];
}
for (i = 0; i < GetDataSize(); ++i)
vPos[i]=i;
for (i = 0; i < GetDataSize(); ++i)
v[i] = CalculateV(dm, lineSum, i);
QuickSortDouble(v,vPos,GetDataSize());
QuickSortInt(vPos,k);
for (i = k-1; i >= 0; --i)
AddCentroid(vPos[i]);
for (i = 0; i < GetDataSize(); ++i)
{
free(dm[i]);
}
free(dm);
free(v);
free(vPos);
free(lineSum);
}
int main(void){
//!< Temperature Reference resistors. Value defined in config.h
RefRes[0]=RES_REF1;
RefRes[1]=RES_REF2;
RefRes[2]=RES_REF3;
RefRes[3]=RES_REF4;
//!< Sets the connected Cells. Value defined in config.h
ActiveCells[0] = CELLSIC1;
ActiveCells[1] = CELLSIC2;
ActiveCells[2] = CELLSIC3;
ActiveCells[3] = CELLSIC4;
CCInit(); // Coulombcounter Init
SPI_MasterInit(); // SPI Init
TimerInit(DELAY_TIM_FREQUENCY); // Timer prescaler Init
CLK_init(CHIP_CLK); // Start Frequency output for ATA6870(kHz)
CAN_init(); //Setup CAN bus
while(OpenCellcheck()){ //Checks for open Clamps
_delay_ms(50);
}
// sei(); // enable interrupt
while(1){
if(ATA6870_state){
PD_N_ON();
}
else{
PD_N_OFF();
}
//----------------------------- Vacq 1---------------------------------------//
ATA6870_SPI_COM(0x01,0x0B,0x02);//wakeup irq surpressed
_delay_ms(20);
ActiveTemp=0x00; //Set measured Temperature Channel
ATA6870_SPI_COM(0x01,0x05,0x03);//Vacq Temp Channel 1
_delay_ms(20);
ATA6870_SPI_COM(0x01,0x0C,0x00);//Read Status Reg
_delay_ms(20);
operation=0x03;
ATA6870_SPI_COM(0x01,0xFE,0x00);//Burstread
_delay_ms(20);
ReadNTC();
//------------------------------ Offset acq 1---------------------------------//
ATA6870_SPI_COM(0x01,0x05,0x01);//Offset acq
_delay_ms(20);
ATA6870_SPI_COM(0x01,0x0C,0x00);//Read Status Reg
_delay_ms(20);
operation=0x01;
ATA6870_SPI_COM(0x01,0xFE,0x00);//Burstread
_delay_ms(20);
//--------------------------------- Check 1------------------------------------//
CalculateV(0x01);
//----------------------------- NTC2 Chip1---------------------------------------//
ActiveTemp=0x01; //Set measured Temperature Channel
ATA6870_SPI_COM(0x01,0x05,0x0B);//Vacq Temp Channel 2
_delay_ms(20);
ATA6870_SPI_COM(0x01,0x0C,0x00);//Read Status Reg
_delay_ms(20);
operation=0x03;
ATA6870_SPI_COM(0x01,0xFE,0x00);//Burstread
_delay_ms(20);
ReadNTC();
//--------------------------------- Vacq 2--------------------------------------//
ATA6870_SPI_COM(0x02,0x0B,0x02);//wakeup irq surpressed
_delay_ms(20);
ATA6870_SPI_COM(0x02,0x05,0x03);//Vacq Temp Channel 1
_delay_ms(20);
ATA6870_SPI_COM(0x02,0x0C,0x00);//Read Status Reg
_delay_ms(20);
operation=0x03;
ATA6870_SPI_COM(0x02,0xFE,0x00);//Burstread
_delay_ms(20);
//------------------------------ Offset acq 2----------------------------------//
ATA6870_SPI_COM(0x02,0x05,0x01);//Offset acq
_delay_ms(20);
ATA6870_SPI_COM(0x02,0x0C,0x00);//Read Status Reg
_delay_ms(20);
operation=0x01;
ATA6870_SPI_COM(0x02,0xFE,0x00);//Burstread
_delay_ms(20);
//------------------------------------ Check 2----------------------------------//
CalculateV(0x02);
if(Undervoltage(25000,0x01)||Overvoltage(42000,0x01)||Undervoltage(25000,0x02)||Overvoltage(42000,0x02)||Temp[0]<=(T_LOWERTRESHOLD)||Temp[0]>=T_UPPERTHRESHOLD||Temp[1]<=(T_LOWERTRESHOLD)||Temp[1]>=T_UPPERTHRESHOLD){
Configure_Fet(0x00);
}
else{
Configure_Fet(0x03);
}
}
}
