#include <Wire.h>

#define i2cID 0x1D

//TWI (I2C) sketch to communicate with the LIS302DL accelerometer - Modified and tested Ben Gatti - 6/9/2008
//http://www.st.com/stonline/products/literature/ds/12726.pdf
//Note 5.6K pullup resister on data lines.
//Device is 3 volt was tested at 5 volts no level shifting.
//Reference claims 6 volts is pin max.

//Modified from // TWI (I2C) sketch to communicate with the LIS3LV02DQ accelerometer
//http://www.nearfuturelaboratory.com/2007/01/11/arduino-and-twi/
//Modified code from http://research.techkwondo.com/blog/julian/279
//Thanks Julian.

// Using the Wire library (created by Nicholas Zambetti)
// http://wiring.org.co/reference/libraries/Wire/index.html
// On the Arduino board, Analog In 4 is SDA, Analog In 5 is SCL
// These correspond to pin 27 (PC4/ADC4/SDA) and pin 28 (PC5/ADC5/SCL) on the Atmega8
// The Wire class handles the TWI transactions, abstracting the nitty-gritty to make
// prototyping easy.
       
void setup()

{
       
     Wire.begin(); // join i2c bus (address optional for master)
     Serial.begin(57600);
       
     Serial.println("Wire.begin");
        
     Wire.beginTransmission(i2cID);
     Wire.send(0x21); // CTRL_REG2 (21h)
     Wire.send(B01000000);
     //SPI 4/3 wire
     //1=ReBoot - reset chip defaults
     //n/a
     //filter off/on
     //filter for freefall 2
     //filter for freefall 1
     //filter freq MSB
     //filter freq LSB - Hipass filter (at 400hz) 00=8hz, 01=4hz, 10=2hz, 11=1hz (lower by 4x if sample rate is 100hz)      
     Wire.endTransmission();

     Wire.beginTransmission(i2cID);
     Wire.send(0x20); // CTRL_REG1 (20h)
     Wire.send(B01000111);
     //sample rate 100/400hz
     //power off/on
     //2g/8g
     //self test
     //self test
     //z enable
     //y enable
     //x enable
     Wire.endTransmission();

}

void loop()
{

#define outXhigh 0x29
#define outYhigh 0x2B
#define outZhigh 0x2D
#define statusReg 0x27

boolean goodRead;
goodRead = false;

//----------Status Register-----------------------
     byte status;
     status = B00000000;
     //

//-------------------------------
     Wire.beginTransmission(i2cID);
     Wire.send(statusReg);
     Wire.endTransmission();
         
     Wire.requestFrom(i2cID, 1);
     if(Wire.available())
    {
      status = Wire.receive();
    }

//----------X Values-----------------------
     byte x_val;

//-------------------------------
     Wire.beginTransmission(i2cID);
     Wire.send(outXhigh);
     Wire.endTransmission();
         
Wire.requestFrom(i2cID, 1);
if(Wire.available())
    {
      x_val = Wire.receive();
    }

//----------Y Values-----------------------
     byte y_val;

//-------------------------------
     Wire.beginTransmission(i2cID);
     Wire.send(outYhigh);
     Wire.endTransmission();
         
Wire.requestFrom(i2cID, 1);
if(Wire.available())
    {
      y_val = Wire.receive();
    }
       
    //----------Z Values-----------------------
     byte z_val;

//-------------------------------
     Wire.beginTransmission(i2cID);
     Wire.send(outZhigh);
     Wire.endTransmission();
         
Wire.requestFrom(i2cID, 1);
if(Wire.available())
    {
      z_val = Wire.receive();
      goodRead=true;
    }
//-------------------------------    
       
       
    if (goodRead==true)
    {

//Serial.print("x_val_l= "); Serial.println(x_val_l, DEC);
//Serial.print("x_val_h= "); Serial.println(x_val_h, DEC);
//Serial.print("x_val= "); Serial.println(x_val, DEC);

//Serial.print("y_val_l= "); Serial.println(y_val_l, DEC);
//Serial.print("y_val_h= "); Serial.println(y_val_h, DEC);
//Serial.print("y_val= "); Serial.println(y_val, DEC);

//Serial.print("z_val_l= "); Serial.println(z_val_l, DEC);
//Serial.print("z_val_h= "); Serial.println(z_val_h, DEC);
Serial.print("status "); Serial.println(status, BIN);    
Serial.print(" val= "); Serial.print(x_val, DEC);    
Serial.print(":"); Serial.print(y_val, DEC);    
Serial.print(":"); Serial.println(z_val, DEC);
    }
    else
Serial.print("no data");
       
     delay(100);
}