/*
 * CProgram1.c
 *
 * Created: 30-Dec-13 5:27:42 PM
 *  Author: Sunil
 */ 
#include "GY26.h"

void USART_Init (void)
{
	//unsigned int ubrr=95;
	//UBRR0H = (unsigned char)(ubrr>>8);
    //UBRR0L = (unsigned char)ubrr;                                               //UBRR0 = 95;  //95=14745600 Put the remaining part of the baud number here
    UBRR0=95;
	
	//Enable the receiver and transmitter
	UCSR0B = (1 <<RXEN0) | (1 << TXEN0);

	//Set 2 stop bits and data bit length is 8-bit
	UCSR0C =(1 << UCSZ01) | (1 << UCSZ00);
}

void USART_Transmit( unsigned char data )
{
	/* Wait for empty transmit buffer */
	while ( !( UCSR0A & (1<<UDRE0)) );
	/* Put data into buffer, sends the data */
	UDR0 = data;
}

unsigned char USART_Receive( void )
{
	/* Wait for data to be received */
	while ( !(UCSR0A & (1<<RXC0)) );
	/* Get and return received data from buffer */
	return UDR0;
}


void ReadAngle_gy26()
{
	USART_Transmit(0x31);    //get angle
	//_delay_ms(1);
	for (j=0;j<=7;j++)
	{
		val[j]=USART_Receive();
	}
	
	for(j=2;j<=4;j++)
	{
		val[j] =val[j] & 0x0f;
	}
	PORTK=val[2];
	PORTD=val[3];
    final=( (val[2]*100) + ((val[3])*10) + (val[4]) );
}

void Calibration_GY26(void)
{
	USART_Transmit(0xC0);
	_delay_ms(60000);
	_delay_ms(60000);
	USART_Transmit(0xC1);
}