; Software des Atmega32L zum Auslesen und Ansteuern des ADXL345



.include "m32def.inc"
.include "adxl345.inc"

.def temp = r16
.def Adress = r17
.def DataR0 = r18
.def DataR1 = r19
.def DataR2 = r20
.def DataR3 = r21
.def DataR4 = r22
.def DataR5 = r23

.def warte0 = r24
.def warte1 = r25

.equ Multi = 6
.equ Read = 7
.equ UBRR = 103
.equ SS = PB4
.equ SCK = PB7
.equ MOSI = PB5
.equ MISO = PB6

; Interuptvektortabelle
.org 0x0000
	rjmp main

;	****Programminitialisierung****
main:


ldi temp, HIGH(RAMEND)									; Stackpointer initialisiert
out SPH, temp
ldi temp, LOW(RAMEND)
out SPL, temp


; Konfiguration der UART
ldi temp, HIGH(UBRR)									; BAUD Rate der UART auf 38,4kbps gesetzt
out UBRRH, temp
ldi temp, LOW(UBRR)
out UBRRL, temp

ldi temp, (1<<RXEN) | (1<<TXEN)							;Senden und Empfangen der UART aktiviert
out UCSRB, temp

ldi temp, (1<<URSEL) | (1<<UCSZ1) | (1<<UCSZ0)			;8Datenbits, 1Stopbit
out UCSRC, temp

;Konfiguration der SPI

sbi PORTB,SS										;Deaktivieren des Slaveselect

ldi temp, (1<<SS) | (1<<MOSI) | (1<<SCK)
out DDRB, temp

ldi temp, (1<<SPE) | (1<<MSTR) | (1<<CPOL) | (1<<CPHA)
out SPCR, temp

	;Einstellen des Datenformates
			ldi Adresse, (1<<Multi) | (DATA_FORMAT)
			ldi Data0, 0b00001011									; 4 Wire SPI, Volle Auflösung, Messbereich +-16g

			cbi PORTB, SS
			out SPDR, Adresse
			rcall SpiTransmit

			out SPDR, Data0
			rcall SpiTransmit
			sbi PORTB, SS

	rcall Warteschleife1

;Status LED
sbi DDRA,PA0

rcall Warteschleife

ldi Adress, (1<<Read) | (1<<Multi) | (DEVID)

cbi PORTB, SS
out SPDR, Adress
rcall SpiTransmit
in DataR0, SPDR
sbi PORTB, SS

rcall Warteschleife

ldi Adress, (1<<Read) | (1<<Multi) | (BW_RATE)

cbi PORTB, SS
out SPDR, Adress
rcall SpiTransmit
in DataR1, SPDR
sbi PORTB, SS

rcall Warteschleife



ldi DataR2, 'T'
ldi DataR3, 'E'
ldi DataR4, 'S'
ldi DataR5, 'T'

loop:

rcall UART_TXD
out UDR, DataR1

rcall UART_TXD
out UDR, DataR0

rcall UART_TXD
out UDR, DataR2

rcall UART_TXD
out UDR, DataR3

rcall UART_TXD
out UDR, DataR4

rcall UART_TXD
out UDR, DataR5

rjmp loop


SpiTransmit:
sbis SPSR, SPIF
rjmp SpiTransmit
ret

UART_TXD:
sbis UCSRA, UDRE
rjmp UART_TXD
ret

Warteschleife:													;Warteschleife 1,2115ms
	ldi Warte0, 16
	Warteschleife_1:
	ldi Warte1, 200
	Warteschleife_2:
	dec Warte1
	brne Warteschleife_2
	dec Warte0
	brne Warteschleife_1
	ret

Warteschleife1:
ldi warte0, 3
Warte_1:
dec warte0 
brne Warte_1
ret