avr adxl345程序

#include <iom128v.h> #include <macros.h> #include"1602.h" #include"delay8M.h" #define uchar unsigned char #define uint unsigned int #define SDA_set PORTC |=BIT(0) #define SDA_clr PORTC &=~BIT(0) #define SDA_in DDRC &=~BIT(0) #define SDA_out DDRC |=BIT(0) #define SDA_R PINC & BIT(0) #define SCL_set PORTC |=BIT(1) #define SCL_clr PORTC &=~BIT(1) #define SCL_out DDRC |=BIT(1) #define SlaveAddress 0xA6 //器件地址 unsigned char acc_databuf[6]; signed int acc_x=0,acc_y=0,acc_z=0; signed char acc_x_flag=0,acc_y_flag=0,acc_z_flag=0; float Temp_x,Temp_y,Temp_z; float Angle; /*起始信号*/ void IIC_Start(void) { SDA_out; SDA_set; SCL_set; delay_nus(5); SDA_clr; delay_nus(5); SCL_clr; } /*停止信号*/ void IIC_Stop(void) { SDA_out; SDA_clr; SCL_set; delay_nus(5); SDA_set; delay_nus(5); } /*发送应答信号*/ void IIC_Send_Ack(void) { SDA_out; SDA_clr; SCL_set; delay_nus(5); SCL_clr; delay_nus(5); } /*发送非应答信号*/ void IIC_Send_NoAck(void) { SDA_out; SDA_set; SCL_set; delay_nus(5); SCL_clr; delay_nus(5); } /*接收应答信号*/ void IIC_Recv_Ack(void) { //unsigned char i=0; SDA_in; SCL_set; delay_nus(5); //i=SDA_R; SCL_clr; delay_nus(5); //return i; } /*IIC总线发送一个字节数据*/ void IIC_Send_Byte(unsigned char data) { unsigned char i=0; SDA_out; for(i=0;i<8;i++) { if(data&0x80) SDA_set; else SDA_clr; SCL_set; delay_nus(5); SCL_clr; delay_nus(5); data<<=1; } IIC_Recv_Ack(); } /*IIC总线接收一个字节数据*/ unsigned char IIC_Recv_Byte(void) { unsigned char i; unsigned char value=0; SDA_set; SDA_in; for(i=0;i<8;i++) { value<<=1; SCL_set; delay_nus(5); if(SDA_R) value |=0x01; SCL_clr; delay_nus(5); } return value; } /*向ADXL345写入一个字节*/ void ADX345_Write_Byte(uchar Addr,uchar Data) { IIC_Start(); IIC_Send_Byte(SlaveAddress); IIC_Send_Byte(Addr); IIC_Send_Byte(Data); IIC_Stop(); } /*向ADXL345读出一个字节*/ unsigned char ADX345_Read_Byte(uchar Add) { unsigned char Result=0; IIC_Start(); IIC_Send_Byte(SlaveAddress); IIC_Send_Byte(Add); IIC_Start(); IIC_Send_Byte(SlaveAddress+1); Result=IIC_Recv_Byte(); IIC_Send_NoAck(); IIC_Stop(); return Result; } /*连续读出ADXL345内部加速度数据，地址范围0x32~0x37*/ void Multiple_Read_ADX345(void) { unsigned char i=0; IIC_Start(); IIC_Send_Byte(SlaveAddress); IIC_Send_Byte(0x32); IIC_Start(); IIC_Send_Byte(SlaveAddress+1); for(i=0;i<6;i++) { acc_databuf[i]=IIC_Recv_Byte(); if(i==5) IIC_Send_NoAck(); else IIC_Send_Ack(); } IIC_Stop(); //delay_nms(5); } /*ADXL345初始化*/ void Init_ADX345(void) { unsigned char Devid=0; SDA_out; SCL_out; //ADX345_Write_Byte(0x31,0x08);// ADX345_Write_Byte(0x31,0x0b); //ADX345_Write_Byte(0x2c,0x0A);//速率设定为12.5 参考pdf13页 ADX345_Write_Byte(0x2d,0x08); ADX345_Write_Byte(0x2e,0x80); //ADX345_Write_Byte(0x1e,0x00); //ADX345_Write_Byte(0x1f,0x00); //ADX345_Write_Byte(0x20,0x05); Devid=ADX345_Read_Byte(0x00);//读出的数据为0xe5,表示正确 while(Devid!=0xe5); } /*X轴*/ void Display_X(void) { float Temp; acc_x=(acc_databuf[1]<<8)+acc_databuf[0]; if(acc_x<0) { acc_x=-acc_x; acc_x_flag=-1; lcddisplaychar(1,'-'); } else { acc_x_flag=1; lcddisplaychar(1,'+'); } //Temp=(float)Dis_data*3.9; //Temp_x=Temp; } /*Y轴*/ void Display_Y(void) { //float Temp; acc_y=(acc_databuf[3]<<8)+acc_databuf[2]; if(acc_y<0) { acc_y=-acc_y; acc_y_flag=-1; lcddisplaychar(6,'-'); } else { acc_y_flag=1; lcddisplaychar(6,'+'); } //Temp=(float)Dis_data*3.9; //Temp_y=Temp; } /*Z轴*/ void Display_Z(void) { acc_z=(acc_databuf[5]<<8)+acc_databuf[4]; if(acc_z<0) { acc_z=-acc_z; acc_z_flag=-1; lcddisplaychar(11,'-'); } else { acc_z_flag=1; lcddisplaychar(11,'+'); } //Temp=(float)Dis_data*3.9; //Temp_z=Temp; } /*显示X、Y、Z轴*/ /* void Display(uchar C) { float a,b,Tem; uchar Abai,Ashi,Age,AG; switch(C) { case 0 : a=Temp_y*Temp_y+Temp_z*Temp_z; //X轴 Tem=Temp_x; break; case 1 : a=Temp_x*Temp_x+Temp_z*Temp_z; //Y轴 Tem=Temp_y; break; case 2 : a=Temp_x*Temp_x+Temp_y*Temp_y; //Z轴 Tem=Temp_z; break; default : break; } b=sqrt(a); Angle=atan(b/Tem)*57.29;// 180/3.1416=57.29 AG=(unsigned char)Angle; Abai=(unsigned char)AG/100+0x30; Ashi=(unsigned char)AG%100/10+0x30; Age=(unsigned char)AG%10+0x30; switch(C) { case 0 : Send_COM(0x82); break; case 1 : Send_COM(0x85); break; case 2 : Send_COM(0x92); break; default : break; } Send_DATA(Abai); Send_DATA(Ashi); Send_DATA(Age); } */ /*主程序*/ void main(void) { lcdinit(); Init_ADX345();//初始化ADXL345 while(1) { Multiple_Read_ADX345();//连续读出数据，存储在BUF中 Display_X(); Display_Y(); Display_Z(); delay_nms(60); lcddisplay(2,acc_x); //---------显示X轴 delay_nms(60); lcddisplay(7,acc_y); delay_nms(60); lcddisplay(12,acc_z); //Delay(60000); //Display(1); //---------显示Y轴 //Delay(60000); //Display(2); //---------显示Z轴 //Delay(60000); } }