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//*****************************************************************************

// File Name	: a2dtest.c

// 

// Title		: example usage of some avr library functions

// Revision		: 1.0

// Notes		:	

// Target MCU	: Atmel AVR series

// Editor Tabs	: 4

// 

// Revision History:

// When			Who			Description of change

// -----------	-----------	-----------------------

// 20-Oct-2002	pstang		Created the program

//*****************************************************************************

//----- Include Files ---------------------------------------------------------

#include <avr/io.h>		// include I/O definitions (port names, pin names, etc)

#include <avr/interrupt.h>	// include interrupt support

#include <math.h>

#include "global.h"		// include our global settings

#include "uart.h"		// include uart function library

#include "rprintf.h"	// include printf function library

#include "timer.h"		// include timer function library (timing, PWM, etc)

#include "a2d.h"		// include A/D converter function library

//----- Begin Code ------------------------------------------------------------

#define BUFLEN 32

int main(void)

{

	u08 i=0;

	s16 x=0,y=0;

	double fi;

	s16 fia;

	u16 fib;

	// initialize our libraries

	// initialize the UART (serial port)

	uartInit();

	uartSetBaudRate(9600);

	// make all rprintf statements use uart for output

	rprintfInit(uartSendByte);

	// initialize the timer system

	timerInit();

	// turn on and initialize A/D converter

	a2dInit();	

	// configure a2d port (PORTA) as input

	// so we can receive analog signals

	DDRC = 0x00;

	// make sure pull-up resistors are turned off

	PORTC = 0x00;

	// set the a2d prescaler (clock division ratio)

	// - a lower prescale setting will make the a2d converter go faster

	// - a higher setting will make it go slower but the measurements

	//   will be more accurate

	// - other allowed prescale values can be found in a2d.h

	a2dSetPrescaler(ADC_PRESCALE_DIV128);

	// set the a2d reference

	// - the reference is the voltage against which a2d measurements are made

	// - other allowed reference values can be found in a2d.h

	a2dSetReference(ADC_REFERENCE_AREF);

	// use a2dConvert8bit(channel#) to get an 8bit a2d reading

	// use a2dConvert10bit(channel#) to get a 10bit a2d reading

	while(1)

	{

		for(i=0; i<BUFLEN; i++)

		{

			x += a2dConvert10bit(0);

			y += a2dConvert10bit(1);

		}

		x = x/BUFLEN - 512;

		y = y/BUFLEN - 512;

		fi = atan2(y,x) * 180.0 / PI;

		fia = floor(fi);

		fib = floor((fi - fia));

		rprintf("X:%d Y:%d fi:%d.%d \r\n", x, y, fia, fib);

	}

	return 0;

}