iamnoob.c

#include <Wire.h>

#define ACC (0x53)    //ADXL345 ACC address
#define A_TO_READ (8)        //num of bytes we are going to read each time (two bytes for each axis)

void setup() {
  Serial.begin(9600); // This is for our console
  Wire.begin(); // For the accel
  delay(3000);
  
  initAcc();

  Serial.write("Beginning");
}

void loop() {
  char str[512];
  int16_t acc[3];
  getAccelerometerData(acc);
  sprintf(str, "%hd %hd %hd %hd\r\n", acc[0], acc[1], acc[2], acc[3]);
  Serial.print(str);
  delay(20);
}

//---------------- Functions
//Writes val to address register on ACC
void writeTo(int DEVICE, byte address, byte val) {
   Wire.beginTransmission(DEVICE); //start transmission to ACC 
   Wire.write(address);        // send register address
   Wire.write(val);        // send value to write
   Wire.endTransmission(); //end transmission
}


//reads num bytes starting from address register on ACC in to buff array
void readFrom(int DEVICE, byte address, int num, byte buff[]) {
  Wire.beginTransmission(DEVICE); //start transmission to ACC 
  Wire.write(address);        //sends address to read from
  Wire.endTransmission(); //end transmission
  
  Wire.beginTransmission(DEVICE); //start transmission to ACC
  Wire.requestFrom(DEVICE, num);    // request 6 bytes from ACC
  
  int i = 0;
  while(Wire.available())    //ACC may send less than requested (abnormal)
  { 
    buff[i] = Wire.read(); // receive a byte
    i++;
  }
  Wire.endTransmission(); //end transmission
}
 
 void initAcc() {
  //Turning on the ADXL345
  writeTo(ACC, 0x2D, 0);      
  writeTo(ACC, 0x2D, 16);
  writeTo(ACC, 0x2D, 8);
  //by default the device is in +-2g range reading
}

void getAccelerometerData(int16_t * result) {
  //int regAddress = 0x32;    //first axis-acceleration-data register on the ADXL345
  // FUCK THa POLICe, LETS MAKE OUR OWN ADRESS
  int regAddress = 0x30;
  
  byte buff[A_TO_READ];
  
  readFrom(ACC, regAddress, A_TO_READ, buff); //read the acceleration data from the ADXL345
  
  //each axis reading comes in 10 bit resolution, ie 2 bytes.  Least Significat Byte first!!
  //thus we are converting both bytes in to one int
  result[0] = (((int)buff[1]) << 8) | buff[0];   
  result[1] = (((int)buff[3])<< 8) | buff[2];
  result[2] = (((int)buff[5]) << 8) | buff[4];
  result[3] = (((int)buff[6]) << 8) | buff[7];
}