#include "encoder.h"
#include "uart.h"
#include "rprintf.h"
#include <inttypes.h>
#include <avr/io.h>
#include <avr/interrupt.h>
#include <avr/sleep.h>
#include <stdlib.h>
#include <avr/wdt.h> 



volatile char cmd;
volatile s32 latched;
char temp[100];

void rxRec(unsigned char c)
{
	cmd=c;
}

void init(void)
{
	uartInit();
	encoderInit();
	uartInitBuffers();
	uartSetBaudRate(9600);
	uartSetRxHandler(rxRec);
	rprintfInit(uartSendByte);
	
}

void mydelay(int ms)
{
	volatile long harz=0;
	while(--ms > 0){
		harz=0;
		while(harz < 1000) 
			harz++;
	}
}

void print_sample(char cmd)
{
	cli();
	if(cmd='0')
		latched=encoderGetPosition(0);
	else
		latched=encoderGetPosition(1);
	sei();
	ltoa(latched,temp,10);
	rprintfStr(temp);
	rprintfProgStr(PSTR("\r\n"));
}

int main(void)
{
	wdt_enable(WDTO_500MS);
	init();
	rprintfProgStr(PSTR("c: continues \r\n"));
	rprintfProgStr(PSTR("0: channel 0 sample \r\n"));
	rprintfProgStr(PSTR("other key: channel 1 sample \r\n"));
	rprintfProgStr(PSTR("ready:\r\n"));
	while(1){
		wdt_reset();
		if(cmd=='c'){
			while(cmd=='c'){
				print_sample(cmd);
				mydelay(1);
			}
		}else if(cmd){
			print_sample(cmd);
			cmd=0;
		}
	};
	return (0);
}