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#include <avr/io.h>		// include I/O definitions (port names, pin names, etc)
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#include <avr/io.h>		// include I/O definitions (port names, pin names, etc)
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#include <avr/interrupt.h>	// include interrupt support
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#include <avr/interrupt.h>	// include interrupt support
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#include <math.h>
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#include <math.h>
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#include "global.h"		// include our global settings
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#include "global.h"		// include our global settings
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#include "uart.h"		// include uart function library
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#include "uart2.h"		// include uart function library
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#include "rprintf.h"	// include printf function library
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#include "rprintf.h"	// include printf function library
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#include "timer.h"		// include timer function library (timing, PWM, etc)
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#include "timer.h"		// include timer function library (timing, PWM, etc)
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#include "a2d.h"		// include A/D converter function library
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#include "a2d.h"		// include A/D converter function library
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//----- Begin Code ------------------------------------------------------------
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//----- Begin Code ------------------------------------------------------------
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#define BUFLEN 32
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#define BUFLEN 64
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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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	u08 i=0;
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	s16 x=0,y=0;
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	u16 i,x,y;
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	double fi;
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	double fi, err, fibuf[BUFLEN];
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	s16 fia;
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	s16 fia, erra;
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	u16 fib;
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	u16 fib, errb;
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	// initialize our libraries
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	// initialize our 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(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(uartSendByte);
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	rprintfInit(uart0SendByte);
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	// initialize the timer system
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	// initialize the timer system
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	timerInit();
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	timerInit();
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	// turn on and initialize A/D converter
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	// turn on and initialize A/D converter
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	a2dInit();
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	a2dInit();
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	// configure a2d port (PORTA) as input
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	// configure a2d port (PORTA) as input
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	// so we can receive analog signals
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	// so we can receive analog signals
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	DDRC = 0x00;
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	DDRA = 0x00;
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	// make sure pull-up resistors are turned off
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	// make sure pull-up resistors are turned off
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	PORTC = 0x00;
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	PORTA = 0x00;
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	// set the a2d prescaler (clock division ratio)
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	// set the a2d prescaler (clock division ratio)
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	// - a lower prescale setting will make the a2d converter go faster
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	// - a lower prescale setting will make the a2d converter go faster
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	// - a higher setting will make it go slower but the measurements
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	// - a higher setting will make it go slower but the measurements
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	//   will be more accurate
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	//   will be more accurate
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	// use a2dConvert8bit(channel#) to get an 8bit a2d reading
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	// use a2dConvert8bit(channel#) to get an 8bit a2d reading
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	// use a2dConvert10bit(channel#) to get a 10bit a2d reading
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	// use a2dConvert10bit(channel#) to get a 10bit a2d reading
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	while(1)
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	while(1)
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	{
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	{
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		fi=0;
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		err=0;
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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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			x += a2dConvert10bit(0);
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			x = a2dConvert10bit(ADC_CH_ADC0);
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			y += a2dConvert10bit(1);
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			y = a2dConvert10bit(ADC_CH_ADC1);
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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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		x = x/BUFLEN - 512;
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		y = y/BUFLEN - 512;
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		for(i=0; i<BUFLEN; i++) fi += fibuf[i];		// sum recorded angles
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		fi = ((fi/BUFLEN)+PI) * 180.0 / PI;		// average recorded angles and convert product to degrees
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		for(i=0; i<BUFLEN; i++) err += (fibuf[i]-fi)*(fibuf[i]-fi);		// sum cubic errors
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		err = sqrt(err/(BUFLEN-1))/sqrt(BUFLEN);	// compute average cubic error
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		erra = floor(err);
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		fi = atan2(y,x) * 180.0 / PI;
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		errb = floor((err - erra)*1000);
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		fia = floor(fi);
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		fia = floor(fi);
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		fib = floor((fi - fia));
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		fib = floor((fi - fia)*1000);
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		rprintf("X:%d Y:%d fi:%d.%d \r\n", x, y, fia, fib);
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		rprintf("fi:%d.%d  +- %d.%d \r\n", fia, fib, erra, errb);
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	}
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	}
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	return 0;
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	return 0;
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}
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}