// ADXL345 Register Definition
#define  POWER_CTL      0x2D
#define _DATA_FORMAT    0x31
#define _BW_RATE        0x2C
#define _DATAX0         0x32
#define _DATAX1         0x33
#define _DATAY0         0x34
#define _DATAY1         0x35
#define _DATAZ0         0x36
#define _DATAZ1         0x37
#define _FIFO_MODE      0x38
#define _SPEED          0x0F

#define _ACCEL_ERROR    0x02

#define _ACCEL_ADDRESS  0x3A         //alt A6  // 3A

// LCD module connections
sbit LCD_RS at RB4_bit;
sbit LCD_EN at RB5_bit;
sbit LCD_D4 at RB0_bit;
sbit LCD_D5 at RB1_bit;
sbit LCD_D6 at RB2_bit;
sbit LCD_D7 at RB3_bit;

sbit LCD_RS_Direction at TRISB4_bit;
sbit LCD_EN_Direction at TRISB5_bit;
sbit LCD_D4_Direction at TRISB0_bit;
sbit LCD_D5_Direction at TRISB1_bit;
sbit LCD_D6_Direction at TRISB2_bit;
sbit LCD_D7_Direction at TRISB3_bit;



int datax=0 ;
unsigned char vypisX[16];
unsigned char vypisY[16];
unsigned char vypisZ[16];
int cteni[3] = {0, 0, 0};

unsigned short ADXL345_Read(unsigned short address) {
  unsigned short tmp = 0;

  I2C1_Start();              // issue I2C start signal
  I2C1_Wr(_ACCEL_ADDRESS);   // send byte via I2C (device address + W)
  I2C1_Wr(address);          // send byte (data address)

  I2C1_Start();              // issue I2C signal repeated start
  I2C1_Wr(_ACCEL_ADDRESS+1); // send byte (device address + R)
  tmp = I2C1_Rd(0);          // Read the data (NO acknowledge)
  I2C1_Stop();               // issue I2C stop signal

  return tmp;
}
int Accel_ReadX(void) {
  char low_byte;
  int Out_x;

  Out_x = ADXL345_Read(_DATAX1);
  low_byte = ADXL345_Read(_DATAX0);

  Out_x = (Out_x << 8);
  Out_x = (Out_x | low_byte);

  return Out_x;
}

int Accel_ReadY(void) {
  char low_byte;
  int Out_y;

  Out_y = ADXL345_Read(_DATAY1);
  low_byte = ADXL345_Read(_DATAY0);

  Out_y = (Out_y << 8);
  Out_y = (Out_y | low_byte);

  return Out_y;
}


// Read Z Axis
int Accel_ReadZ(void) {
  char low_byte;
  int Out_z;

  Out_z = ADXL345_Read(_DATAZ1);
  low_byte = ADXL345_Read(_DATAZ0);

  Out_z = (Out_z << 8);
  Out_z = (Out_z | low_byte);

  return Out_z;
}
// výpočet průměrné hodnoty
void Accel_Average(void) {
  int i, sx, sy, sz;

  // součtové proménné
  sx = sy = sz = 0;

  // čtení posledních 16 vzorků
  for (i=0; i<16; i++) {


    sx += Accel_ReadX();    //součet vzorků
    sy += Accel_ReadY();
    sz += Accel_ReadZ();
  }
//výsledný průměr po vydělení 16
  cteni[0] = sx >>4;
  cteni[1] = sy >>4;
  cteni[2] = sz >>4;
}
void main() { 
ANSELB=0;
ANSELC=0;
PORTC = 0;
PORTB = 0  ;
TRISC=0;
TRISB = 0 ;
TRISD=1;

I2C1_Init(100000) ;
Lcd_Init();
Lcd_cmd(_LCD_CURSOR_OFF);


   I2C1_start();
   I2C1_wr(0x3A);
   I2C1_wr(_DATA_FORMAT);
   I2C1_wr(0x01);
   I2C1_stop();
   delay_ms(1);

   I2C1_start();
   I2C1_wr(0x3A);
   I2C1_wr(_FIFO_MODE);
   I2C1_wr(0x40);
   I2C1_stop();

   delay_ms(1);
   I2C1_start();
   I2C1_wr(0x3A);
   I2C1_wr(_BW_RATE);
   I2C1_wr(0x0c);
   I2C1_stop();

   delay_ms(1);
   I2C1_start();
   I2C1_wr(0x3A);
   I2C1_wr(POWER_CTL);
   I2C1_wr(0x08); //Measurement mode
   I2C1_stop();
 while(1)  {
Lcd_cmd(_LCD_CLEAR);
Accel_Average();

IntToStr(cteni[0],vypisX);
Lcd_out(1,2,vypisX) ;
Lcd_out(1,1,"X :") ;

IntToStr(cteni[1],vypisY);
Lcd_out(2,2,vypisY) ;
Lcd_out(2,1,"Y :") ;

IntToStr(cteni[2],vypisZ);
Lcd_out(1,10,vypisZ) ;
Lcd_out(1,10,"Z :") ;
delay_ms(150);



                   }

}