#include <mega16.h>
#include <stdio.h>
#include <delay.h>

#define ADC_VREF_TYPE 0x40

char sensor_val[3]={0,0,0};
//float sensor;
//char pwm_val =0;
signed char jerk;

/*
char simulation_mode=1;

// External Interrupt 0 service routine
// NEED TO CHANGE THE INTERUPT REGISTER TO "ANY EDGE" WHEN I GO TO THE PROTO BOARD
interrupt [EXT_INT0] void ext_int0_isr(void)
{

        (simulation_mode==0)?(simulation_mode=1):(simulation_mode=0);
        delay_ms(100); 
} 



void accelerometer_value(){
      //sensor_val[2]=sensor_val[1];
      sensor_val[1]=sensor_val[0];
      sensor_val[0]=read_adc(0)>>2;
      //sensor[1]=sensor[0];
      //sensor[0]=sensor_val[0];
      sensor = 1*sensor_val[0]; //+ .15*sensor_val[1] + .05*sensor_val[2];// //exp smoothing commented out... adjust 1 to .8 in front of sensor_val[0]
      jerk = sensor_val[0]-sensor_val[1];
      //printf("\n\rSensor Value:\t%d\tInverse\t%d",sensor,~sensor);
      //delay_ms(100);
      printf("[%d;%d]\r",jerk,sensor_val[0]);
}
void potentiometer_value(){
      //sensor_val[2]=sensor_val[1];
      sensor_val[1]=sensor_val[0];
      sensor_val[0]=read_adc(7)>>2;
      //sensor[1]=sensor[0];
      //sensor[0]=sensor_val[0];
      sensor = 1*sensor_val[0]; //+ .15*sensor_val[1] + .05*sensor_val[2];// //exp smoothing commented out... adjust 1 to .8 in front of sensor_val[0]
      jerk = sensor_val[0]-sensor_val[1];
      //printf("\n\rSensor Value:\t%d\tInverse\t%d",sensor,~sensor);
      //delay_ms(100);
      printf("[%d;%d]\r",jerk,sensor_val[0]);
}

*/

// Read the AD conversion result
unsigned int read_adc(unsigned char adc_input)
{
ADMUX=adc_input | (ADC_VREF_TYPE & 0xff);
// Delay needed for the stabilization of the ADC input voltage
delay_us(10);
// Start the AD conversion
ADCSRA|=0x40;
// Wait for the AD conversion to complete
while ((ADCSRA & 0x10)==0);
ADCSRA|=0x10;
return ADCW;
}

void main(void)
{
///////////////////////////////////////////////////////////////////
// USART initialization					      
// Communication Parameters: 8 Data, 1 Stop, No Parity	      
// USART Receiver: Off						      
// USART Transmitter: On     			                     
// USART Mode: Asynchronous					      
// USART Baud Rate: 9600					      
///////////////////////////////////////////////////////////////////
UCSRA=0x00;
UCSRB=0x08;
UCSRC=0x86;
UBRRH=0x00;
UBRRL=0x33;
////////////////////////////////////////////////////////////////////
// External Interrupt(s) initialization
// INT0: On
// INT0 Mode: Rising Edge
// INT1: Off
// INT2: Off
////////////////////////////////////////////////////////////////////
GICR|=0x40;
MCUCR=0x03;
MCUCSR=0x00;
GIFR=0x40;
////////////////////////////////////////////////////////////////////
// Analog Comparator initialization
// Analog Comparator: Off
// Analog Comparator Input Capture by Timer/Counter 1: Off
////////////////////////////////////////////////////////////////////
ACSR=0x80;
SFIOR=0x00;


// Asembly syntax to enable global interupts
#asm("sei")

////////////////////////////////////////////////////////////////////
// ADC initialization
// ADC Clock frequency: 62.500 kHz
// ADC Voltage Reference: AVCC pin
// ADC Auto Trigger Source: None
////////////////////////////////////////////////////////////////////
ADMUX=ADC_VREF_TYPE & 0xff;
ADCSRA=0x87;


while (1)
      {
/* Running the same program in a funtion that is determined by an interupt which tell what pin to ADC from      
      //sensor_val[2]=sensor_val[1];
      sensor_val[1]=sensor_val[0];
      sensor_val[0]=read_adc(3)>>2;
      //sensor[1]=sensor[0];
      //sensor[0]=sensor_val[0];
      sensor = 1*sensor_val[0] + .15*sensor_val[1] + .05*sensor_val[2];// //exp smoothing commented out... adjust 1 to .8 in front of sensor_val[0]
      jerk = sensor_val[0]-sensor_val[1];
      //printf("\n\rSensor Value:\t%d\tInverse\t%d",sensor,~sensor);
      //delay_ms(100);
      printf("[%d;%d]\r",jerk,sensor_val[0]);

      switch(simulation_mode)
        {
        case 0x00:
        potentiometer_value();
        case 0x01:
        accelerometer_value();
        }
        */
        
      sensor_val[2]=sensor_val[1];
      sensor_val[1]=sensor_val[0];
      sensor_val[0]=read_adc(0)>>2;

      //sensor = 1*sensor_val[0] + .15*sensor_val[1] + .05*sensor_val[2]; //exp smoothing commented out... adjust 1 to .8 in front of sensor_val[0]
      jerk = sensor_val[0]-sensor_val[1];
      
      printf("[%d;%d]\r",sensor_val[0],jerk);
        
      };
}