fix ADXL345 driver

3 files changed, 13 insertions, 7 deletions

diff --git a/main.vala b/main.vala
index 79bfdc2..6cfe244 100644
--- a/main.vala
+++ b/main.vala
@@ -27,8 +27,8 @@ Kinematics kinematics;
 bool loop() {
 	try {
 		/* get sensor data */
-		int16 gx, gy, gz;
-		uint16 ax, ay, az, mx, my, mz;
+		int16 gx, gy, gz, ax, ay, az;
+		uint16 mx, my, mz;
 		gyroscope.get_data(out gx, out gy, out gz);
 		accelerometer.get_data(out ax, out ay, out az);
 		compass.get_data(out mx, out my, out mz);
diff --git a/sensors/accelerometer.vala b/sensors/accelerometer.vala
index d9563f9..b1f9607 100644
--- a/sensors/accelerometer.vala
+++ b/sensors/accelerometer.vala
@@ -15,5 +15,5 @@
 
 public interface Accelerometer : Device {
 	public abstract void init(KeyFile cfg) throws Error;
-	public abstract void get_data(out uint16 x, out uint16 y, out uint16 z) throws Error;
+	public abstract void get_data(out int16 x, out int16 y, out int16 z) throws Error;
 }
diff --git a/sensors/accelerometer/adxl345.vala b/sensors/accelerometer/adxl345.vala
index 199903e..4761178 100644
--- a/sensors/accelerometer/adxl345.vala
+++ b/sensors/accelerometer/adxl345.vala
@@ -16,6 +16,11 @@
 public class ADXL345 : I2CDevice, Accelerometer {
 	public ADXL345(uint8 dev, uint8 addr = 0x53) throws I2CError {
 			setup(dev, addr);
+
+			set_byte(0x2D, 0x00); /* reset */
+			set_byte(0x31, 0x01); /* +/- 4g */
+			set_byte(0x2C, 0x0b); /* 200hz */
+			set_byte(0x2D, 0x18); /* mode: measurement + auto sleep */
 	}
 
 	public void init(KeyFile cfg) throws KeyFileError, I2CError {
@@ -42,10 +47,11 @@ public class ADXL345 : I2CDevice, Accelerometer {
 		set_byte(0x20, z);
 	}
 
-	public void get_data(out uint16 x, out uint16 y, out uint16 z) throws I2CError {
-		x = get_big_word(0x32);
-		y = get_big_word(0x34);
-		z = get_big_word(0x36);
+	public void get_data(out int16 x, out int16 y, out int16 z) throws I2CError {
+		var data = get_block(0x32, 6);
+		x = data[0] | data[1] << 8;
+		y = data[2] | data[3] << 8;
+		z = data[4] | data[5] << 8;
 	}
 }