/* compass_robot - an application for the Pololu Orangutan SVP
 *
 * This application uses the Pololu AVR C/C++ Library.  For help, see:
 * -User's guide: http://www.pololu.com/docs/0J20
 * -Command reference: http://www.pololu.com/docs/0J18
 *
 * Created: 5/13/2012 6:00:02 PM
 *  Author: Dave
 */

#define F_CPU 20000000UL
#include <pololu/orangutan.h>
#include <stdio.h>
#include <stdlib.h>
#include "i2cmaster.h"
#define COMPASS 0x3C

int main()
{
    play_from_program_space(PSTR(">g32>>c32"));  // Play welcoming notes.

    lcd_goto_xy(0,0);
    print("i2c init");
    i2c_init();
    i2c_start_wait(COMPASS + I2C_WRITE);
    i2c_write(0x00);
    i2c_write(0x70);
    i2c_stop();

    i2c_start_wait(COMPASS + I2C_WRITE);
    i2c_write(0x01);
    i2c_write(0xA0);
    i2c_stop();

    i2c_start_wait(COMPASS + I2C_WRITE);
    i2c_write(0x02);
    i2c_write(0x00);
    i2c_stop();
    lcd_goto_xy(0, 0);
    print("i2c init done");
    delay_ms(1000);

    long buffer[6];
    long x, y, z = 0;
    short i;

    char* msg = malloc(sizeof(char)*16);
    while(1)
    {
        i2c_start(COMPASS + I2C_WRITE);
        i2c_write(0x06);
        i2c_stop();

        i2c_start(COMPASS + I2C_READ);
        for (i = 0; i < 5; i++) {
            buffer[i] = i2c_readAck();
        }
        buffer[5] = i2c_readNak();
        i2c_stop();

        x = (buffer[0] << 8) | buffer[1];
        z = (buffer[2] << 8) | buffer[3];
        y = (buffer[4] << 8) | buffer[5];

        lcd_goto_xy(0, 1);
        sprintf(msg, "%d %d %d", x, y, z);
        print(msg);

        delay_ms(1000);
        lcd_goto_xy(0, 1);
        print("                ");
        delay_ms(200);
    }
}