from machine import I2C
import time
import ustruct

DATA_FORMAT = 0x31
BW_RATE = 0x2C
POWER_CTL = 0x2D
INT_ENABLE = 0x2E
OFSX = 0x1E
OFSY = 0x1F
OFSZ = 0x20


class ADXL345:
    def __init__(self, i2c):
        self.i2c = i2c
        slv = self.i2c.scan()
        print(slv)
        for s in slv:
            buf = self.i2c.readfrom_mem(s, 0, 1)
            print(buf)
            if buf[0] == 0xE5:
                self.slvAddr = s
                print("adxl345 found")
                break
        # self.writeByte(POWER_CTL,0x00)  #sleep
        # time.sleep(0.001)
        # 低电平中断输出,13位全分辨率,输出数据右对齐,16g量程
        self.writeByte(DATA_FORMAT, 0x2B)
        # 数据输出速度为100Hz
        self.writeByte(BW_RATE, 0x0A)
        # 不使用中断
        self.writeByte(INT_ENABLE, 0x00)

        self.writeByte(OFSX, 0x00)
        self.writeByte(OFSY, 0x00)
        self.writeByte(OFSZ, 0x00)
        # 链接使能,测量模式
        self.writeByte(POWER_CTL, 0x28)
        time.sleep(1)

    def readXYZ(self):
        fmt = "<h"  # little-endian
        buf1 = self.readByte(0x32)
        buf2 = self.readByte(0x33)
        buf = bytearray([buf1[0], buf2[0]])
        (x,) = ustruct.unpack(fmt, buf)
        x = x * 3.9
        # print('x:',x)

        buf1 = self.readByte(0x34)
        buf2 = self.readByte(0x35)
        buf = bytearray([buf1[0], buf2[0]])
        (y,) = ustruct.unpack(fmt, buf)
        y = y * 3.9
        # print('y:',y)

        buf1 = self.readByte(0x36)
        buf2 = self.readByte(0x37)
        buf = bytearray([buf1[0], buf2[0]])
        (z,) = ustruct.unpack(fmt, buf)
        z = z * 3.9
        # print('z:',z)
        # print('************************')
        # time.sleep(0.5)
        return (x, y, z)

    def readX(self):
        return self.readXYZ()[0]

    def readY(self):
        return self.readXYZ()[1]

    def readZ(self):
        return self.readXYZ()[2]

    def writeByte(self, addr, data):
        d = bytearray([data])
        self.i2c.writeto_mem(self.slvAddr, addr, d)

    def readByte(self, addr):
        return self.i2c.readfrom_mem(self.slvAddr, addr, 1)


if __name__ == "__main__":
    # 初始化
    sensor = ADXL345(i2c)

    # getXYZ
    x, y, z = sensor.readXYZ()

    # getX/Y/Z
    x0 = sensor.readX()
    y0 = sensor.readY()
    z0 = sensor.readZ()