roboforum.ru

#include <16F886.H>
#fuses HS, NOWDT, NOPROTECT, BROWNOUT, PUT, NOLVP
#use delay(clock=20000000)
#use rs232(baud=9600, xmit=PIN_C6, rcv=PIN_C7, ERRORS)

#define ACC_CS  PIN_C1

// SPI modes
#define SPI_MODE_0  (SPI_L_TO_H | SPI_XMIT_L_TO_H)
#define SPI_MODE_1  (SPI_L_TO_H)
#define SPI_MODE_2  (SPI_H_TO_L)
#define SPI_MODE_3  (SPI_H_TO_L | SPI_XMIT_L_TO_H)

//----------------------------------
void Acc_Write_Register(int8 reg, int8 data)
{
output_low(ACC_CS);
spi_write(((reg & 0x3F) << 1) | 0x80);
spi_write(data);
output_high(ACC_CS);
}

//---------------------------------
int8 Acc_Read_Register(int8 reg)
{
int8 data;

output_low(ACC_CS);
spi_write((reg & 0x3F) << 1);
data = spi_read(0);
output_high(ACC_CS);

return(data);
}

//===============================
void main()
{
int8 result;
int8 Xdata, Ydata, Zdata;

output_high(ACC_CS);

delay_ms(10);   // Minimum 1 ms required after power-up.

setup_spi(SPI_MASTER | SPI_MODE_0 | SPI_CLK_DIV_16);  // 1.25 MHz sclk

Acc_Write_Register(0x16, 0x05);
delay_ms(30);  // Minimum 20 ms required after exiting standby

// Make sure we read back 0x05 from the Control register.
result = Acc_Read_Register(0x16);
printf("Control register = %X \n\r", result);

while(1)
  { 
   Xdata = Acc_Read_Register(0x06); //Read X,Y,Z outputs from Sensor
   Ydata = Acc_Read_Register(0x07);
   Zdata = Acc_Read_Register(0x08);
   delay_ms(500);
   printf("XYZ:  %U, %U, %U \n\r", Xdata, Ydata, Zdata);
  }


}