////////////////////////////////////////////////
/*****************************************************
This program was produced by the
CodeWizardAVR V1.25.9 Professional
Automatic Program Generator
© Copyright 1998-2008 Pavel Haiduc, HP InfoTech s.r.l.
http://www.hpinfotech.com

Project :
Version :
Date    : 4/10/2011
Author  : F4CG
Company : F4CG
Comments:


Chip type           : ATmega16L
Program type        : Application
Clock frequency     : 1.000000 MHz
Memory model        : Small
External SRAM size  : 0
Data Stack size     : 256
*****************************************************/

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


// I2C Bus functions
#asm
   .equ __i2c_port=0x15 ;PORTC
   .equ __sda_bit=1
   .equ __scl_bit=0
#endasm
#include <i2c.h>

// Alphanumeric LCD Module functions
#asm
   .equ __lcd_port=0x18 ;PORTB
#endasm
#include <lcd.h>

int x_value_ADC_value_from_sensore;
int y_value_ADC_value_from_sensore;
int z_value_ADC_value_from_sensore;




void start_with_accelerometer(void){
      i2c_start();
      i2c_write(0xA6);
      i2c_write(0x2D);
      i2c_write(0x00);
      i2c_stop();
      i2c_start();
      i2c_write(0xA6);
      i2c_write(0x31);
      i2c_write(0x01);
      i2c_stop();
      i2c_start();
      i2c_write(0xA6);
      i2c_write(0x2D);
      i2c_write(0x08);
      i2c_stop();
}




void measuring_acceleration(void)
{
      char i;
      int digital_values_from_sensor[6];
      char x_axis_0g_point=1;
      char y_axis_0g_point=1;
      char z_axis_0g_point=-8;


      //i2c reading
      i2c_start();
      i2c_write(0xA6);
      i2c_write(0x32);
      i2c_start();
      i2c_write(0xA7);
      for (i=0;i<5;i++){
      digital_values_from_sensor[i]=i2c_read(1);
      }
      digital_values_from_sensor[i]=i2c_read(0);
      i2c_stop();
      //i2c reading is done

        //comining LSB and HSB
      x_value_ADC_value_from_sensore = (digital_values_from_sensor[1]<<8) |  digital_values_from_sensor[0];
      y_value_ADC_value_from_sensore = (digital_values_from_sensor[3]<<8) |  digital_values_from_sensor[2];
      z_value_ADC_value_from_sensore = (digital_values_from_sensor[5]<<8) |  digital_values_from_sensor[4];
      //giving initial values
      x_value_ADC_value_from_sensore -= x_axis_0g_point;
      y_value_ADC_value_from_sensore -= y_axis_0g_point;
      z_value_ADC_value_from_sensore -= z_axis_0g_point;

}




void process_on_accelerometer_date(void){
        int x_value_signed;
        int y_value_signed;
        int z_value_signed;
        float x_scale=7.6;
        float y_scale=7.58;
        float z_scale=7.93;
        char LSb_for_2complement;
        int the_value_for_finding_2complement=1024;
        char buffer[8];

        ////////////////////////////////////////////////////////
        LSb_for_2complement = x_value_ADC_value_from_sensore>>9;
        if(LSb_for_2complement==1){
        x_value_signed = (x_value_ADC_value_from_sensore - the_value_for_finding_2complement)*x_scale;
        }
        else
        {
        x_value_signed = x_value_ADC_value_from_sensore * x_scale;
        }
        ///////////////////////////////////////////////////////
        LSb_for_2complement = y_value_ADC_value_from_sensore>>9;
        if(LSb_for_2complement==1){
        y_value_signed = (y_value_ADC_value_from_sensore - the_value_for_finding_2complement)*y_scale;
        }
        else
        {
        y_value_signed = y_value_ADC_value_from_sensore * y_scale;
        }
        ///////////////////////////////////////////////////////
        LSb_for_2complement = z_value_ADC_value_from_sensore>>9;
        if(LSb_for_2complement==1){
        z_value_signed = (z_value_ADC_value_from_sensore - the_value_for_finding_2complement)*z_scale;
        }
        else
        {
        z_value_signed = z_value_ADC_value_from_sensore * z_scale;
        }
        /////////////////////////////////////////////////////////

        lcd_clear();
        //show X
        lcd_gotoxy(0,0);
        lcd_putsf("X");
        itoa(x_value_signed,buffer);
        lcd_puts(buffer);


        //show Y
         lcd_gotoxy(8,0);
        lcd_putsf("Y");
         itoa(y_value_signed,buffer);
         lcd_puts(buffer);



        //show Z
        lcd_gotoxy(0,1);
        lcd_putsf("Z");
        itoa(z_value_signed,buffer);
        lcd_puts(buffer);

         delay_ms(500);



}




void main(void)
{
// Declare your local variables here

// Input/Output Ports initialization
// Port A initialization
// Func7=In Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In
// State7=T State6=T State5=T State4=T State3=T State2=T State1=T State0=T
PORTA=0x00;
DDRA=0x00;

// Port B initialization
// Func7=In Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In
// State7=T State6=T State5=T State4=T State3=T State2=T State1=T State0=T
PORTB=0x00;
DDRB=0x00;

// Port C initialization
// Func7=In Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In
// State7=T State6=T State5=T State4=T State3=T State2=T State1=T State0=T
PORTC=0x00;
DDRC=0x00;

// Port D initialization
// Func7=In Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In
// State7=T State6=T State5=T State4=T State3=T State2=T State1=T State0=T
PORTD=0x00;
DDRD=0x00;

// Timer/Counter 0 initialization
// Clock source: System Clock
// Clock value: Timer 0 Stopped
// Mode: Normal top=FFh
// OC0 output: Disconnected
TCCR0=0x00;
TCNT0=0x00;
OCR0=0x00;

// Timer/Counter 1 initialization
// Clock source: System Clock
// Clock value: Timer 1 Stopped
// Mode: Normal top=FFFFh
// OC1A output: Discon.
// OC1B output: Discon.
// Noise Canceler: Off
// Input Capture on Falling Edge
// Timer 1 Overflow Interrupt: Off
// Input Capture Interrupt: Off
// Compare A Match Interrupt: Off
// Compare B Match Interrupt: Off
TCCR1A=0x00;
TCCR1B=0x00;
TCNT1H=0x00;
TCNT1L=0x00;
ICR1H=0x00;
ICR1L=0x00;
OCR1AH=0x00;
OCR1AL=0x00;
OCR1BH=0x00;
OCR1BL=0x00;

// Timer/Counter 2 initialization
// Clock source: System Clock
// Clock value: Timer 2 Stopped
// Mode: Normal top=FFh
// OC2 output: Disconnected
ASSR=0x00;
TCCR2=0x00;
TCNT2=0x00;
OCR2=0x00;

// External Interrupt(s) initialization
// INT0: Off
// INT1: Off
// INT2: Off
MCUCR=0x00;
MCUCSR=0x00;

// Timer(s)/Counter(s) Interrupt(s) initialization
TIMSK=0x00;

// Analog Comparator initialization
// Analog Comparator: Off
// Analog Comparator Input Capture by Timer/Counter 1: Off
ACSR=0x80;
SFIOR=0x00;

// I2C Bus initialization
i2c_init();

// LCD module initialization
lcd_init(16);

while (1)
      {
      start_with_accelerometer();

      while(1){
      measuring_acceleration();
      process_on_accelerometer_date();



      }
      };
}