1 files changed, 33 insertions, 0 deletions
diff --git a/bma150.h b/bma150.h
new file mode 100644
index 0000000..2e043ff
--- /dev/null
+++ b/bma150.h
@@ -0,0 +1,33 @@
+#ifndef BMA150_H
+#define BMA150_H
+
+#include "i2c.h"
+
+class BMA150 {
+	private:
+		I2C& i2c;
+	
+	public:
+		int16_t x, y, z;
+		
+		BMA150(I2C& i2c_bus) : i2c(i2c_bus) {
+			
+		}
+		
+		void init() {
+			uint8_t temp;
+			i2c.read_reg(0x38, 0x14, 1, &temp);
+			i2c.write_reg(0x38, 0x14, (temp & 0xe0) | 0x00 | 0x00); // 2g range, 25 Hz bandwidth
+		}
+		
+		void update() {
+			uint8_t buf[6];
+			i2c.read_reg(0x38, 0x02, 6, buf);
+			
+			x = (buf[1] << 8 | buf[0]) - 0;
+			y = (buf[3] << 8 | buf[2]) - 0;
+			z = (buf[5] << 8 | buf[4]) - 0;
+		}
+};
+
+#endif