while(1)
{
cbi(PORTB, adxl);
send_dummy();
sbi(PORTB, adxl);
cbi(PORTB, adxl);
send_byte(0xF2);
for(uint8_t i=0; i<7; i++)
{
send_byte(0xFF);
data[i] = SPDR;
}
sbi(PORTB, adxl);
cbi(PORTB, adxl);
send_dummy();
sbi(PORTB, adxl);
xA = data[1] << 8 | data[0];
yA = data[3] << 8 | data[2];
zA = data[5] << 8 | data[4];
R=sqrt(square(xA) + square(yA) + square(zA));
xAF=xA/R;
yAF=yA/R;
zAF=zA/R;
AxAF=acos(xAF)*360.0/3.1415926535;
AyAF=acos(yAF)*360.0/3.1415926535;
//printf(" x: %12.6f | y: %12.6f | z: %12.6f \n",xAF,yAF,zAF);
printf("xA: %12.6f | yA: %12.6f \n",AxAF,AyAF);
delay_ms(4000);
// printf("%c",12);
//printf("\n");
}
return(0);
}
void send_dummy(void)
{
SPDR = 0xAA;
while(!(SPSR & (1<<SPIF)));
}