Risym ADXL345 数字式 倾角传感器 加速度模块 IIC/SPI数字传输

#include<msp430x14x.h> #include "math.h" #define uchar unsigned char #define uint unsigned int extern uchar sendstr(uchar sla,uchar suba,uchar s); extern char resstr(uchar sla,uchar suba,int *s,uchar no); uchar data[15]; uchar ADXL345_data[15]; int x_accel; int y_accel; int z_accel; uchar x_accel_sign; uchar y_accel_sign; uchar z_accel_sign; void ADXL345_init() { sendstr(0xA6,0x31,0x0B); sendstr(0xA6,0x2D,0x08); sendstr(0xA6,0x2E,0x80); sendstr(0xA6,0x2C,0x0A); sendstr(0xA6,0x2F,0x00); } void ADXL345_updata() { uchar j,sign[3],i; int out,out1,out2; int a[3]; int exc[3]={0x0010,-0x0003,-0x0003}; long float x[3]; float angle[3]; for(j=0;j<3;j++) { resstr(0xA6,0x33+2*j,&out2,1); //读高字节 resstr(0xA6,0x32+2*j,&out1,1); //读低字节 out=(out2<<8)+out1; //将高低字节合成一个数据 out=out-exc[j]; //偏移校准 a[j]=out; if(out<0) { out=~out+1; //将补码恢复成原码 sign[j]=1; //加速度分量符号 } else sign[j]=0; // x[j]=out; //将数据放入加速度分量 } angle[0]=x[0]/sqrt(x[2]*x[2]+x[1]*x[1]); //通过各轴上的分量，求角度 angle[0]=atan(angle[0])*180/3.1416; angle[1]=x[1]/sqrt(x[2]*x[2]+x[0]*x[0]); angle[1]=atan(angle[1])*180/3.1416; angle[2]=x[2]/sqrt(x[1]*x[1]+x[0]*x[0]); angle[2]=atan(angle[2])*180/3.1416; x_accel=(int)(angle[0]+0.5); y_accel=(int)(angle[1]+0.5); z_accel=(int)(angle[2]+0.5); x_accel_sign=sign[0]; y_accel_sign=sign[1]; z_accel_sign=sign[2]; if(z_accel_sign==1) { x_accel=180-x_accel; /* if((x_accel_sign==1)&&(y_accel_sign==1)) { x_accel=180-x_accel; y_accel=180-y_accel; } if((x_accel_sign==1)&&(y_accel_sign==0)) { x_accel=180-x_accel; y_accel=180-y_accel; } if((x_accel_sign==0)&&(y_accel_sign==1)) { x_accel=180-x_accel; y_accel=180-y_accel; } if((x_accel_sign==0)&&(y_accel_sign==0)) { x_accel=180-x_accel; y_accel=180-y_accel; } */ } if(x_accel_sign) ADXL345_data[0]='-'; else ADXL345_data[0]='+'; ADXL345_data[1]=(x_accel/100+'0'); ADXL345_data[2]=(x_accel%100/10+'0'); ADXL345_data[3]=(x_accel%10+'0'); ADXL345_data[4]=','; if(y_accel_sign) ADXL345_data[5]='-'; else ADXL345_data[5]='+'; ADXL345_data[6]=(y_accel/100+'0'); ADXL345_data[7]=(y_accel%100/10+'0'); ADXL345_data[8]=(y_accel%10+'0'); ADXL345_data[9]=','; if(z_accel_sign) ADXL345_data[10]='-'; else ADXL345_data[10]='+'; ADXL345_data[11]=(z_accel/100+'0'); ADXL345_data[12]=(z_accel%100/10+'0'); ADXL345_data[13]=(z_accel%10+'0'); ADXL345_data[14]=','; for(i=4;i>0;i--) { if(((a[0]>>(4*(i-1)))&0x000F)>0x09) //A~F，转换成ISC码 data[4-i]=(((a[0]>>(4*(i-1)))&0x000F)-0x0A+'A'); else data[4-i]=(((a[0]>>(4*(i-1)))&0x000F)+'0'); //0~9转换成ISC码 } data[4]=(','); for(i=4;i>0;i--) { if(((a[1]>>(4*(i-1)))&0x000F)>0x09) //A~F，转换成ISC码 data[9-i]=(((a[1]>>(4*(i-1)))&0x000F)-0x0A+'A'); else data[9-i]=(((a[1]>>(4*(i-1)))&0x000F)+'0'); //0~9转换成ISC码 } data[9]=(','); for(i=4;i>0;i--) { if(((a[2]>>(4*(i-1)))&0x000F)>0x09) //A~F，转换成ISC码 data[14-i]=(((a[2]>>(4*(i-1)))&0x000F)-0x0A+'A'); else data[14-i]=(((a[2]>>(4*(i-1)))&0x000F)+'0'); //0~9转换成ISC码 } data[14]=(','); }