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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;
}