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#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
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