From f7da767fbb9091d3ee12e63c8e3421d5f645870a Mon Sep 17 00:00:00 2001
From: Kacper <kacper.neumann19@imperial.ac.uk>
Date: Sat, 26 Feb 2022 19:51:43 +0000
Subject: [PATCH 01/35] Testing basic functionality

---
 lis3dh.py | 76 +++++++++++++++++++++++++++++++++++++++++++++++++++++++
 main.py   | 12 ++++++++-
 2 files changed, 87 insertions(+), 1 deletion(-)
 create mode 100644 lis3dh.py

diff --git a/lis3dh.py b/lis3dh.py
new file mode 100644
index 0000000..f5ab202
--- /dev/null
+++ b/lis3dh.py
@@ -0,0 +1,76 @@
+"""Library for interacting with LIS3DH triple-axis accelerometer."""
+
+from importlib.resources import read_text
+from tabnanny import check
+import smbus2
+from time import sleep
+
+# Register addresses
+_CTRL_REG1 = bytes([0x20])
+_CTRL_REG2 = bytes([0x21])
+_CTRL_REG3 = bytes([0x22])
+_CTRL_REG4 = bytes([0x23])
+_CTRL_REG5 = bytes([0x24])
+_CTRL_REG6 = bytes([0x25])
+_REF_REG = bytes([0x26])
+_STATUS_REG = bytes([0x27])
+_OUT_X_L = bytes([0x28])
+_OUT_X_H = bytes([0x29])
+_OUT_Y_L = bytes([0x2A])
+_OUT_Y_H = bytes([0x2B])
+_OUT_Z_L = bytes([0x2C])
+_OUT_Z_H = bytes([0x2D])
+_INT1_CFG = bytes([0x30])
+_INT1_SRC = bytes([0x31])
+_INT1_THS = bytes([0x32])
+_INT1_DURATION = bytes([0x33])
+_INT2_CFG = bytes([0x34])
+_INT2_SRC = bytes([0x35])
+_INT2_THS = bytes([0x36])
+_INT2_DURATION = bytes([0x37])
+_CLICK_CFG = bytes([0x38])
+# Config flags
+SAMPLERATE_1HZ  = bytes([0x17])
+SAMPLERATE_10HZ = bytes([0x27])
+SAMPLERATE_25HZ = bytes([0x37])
+HP_DISABLE = bytes([0x00])
+CTRL_REG3_V = bytes([0x40])
+CTRL_REG4_V = bytes([0x00]) # sensitivity set to 2g
+CTRL_REG5_V = bytes([0x08])
+INT1_THS_V = bytes([0x16]) # free-fall threshold at 350 mg
+INT1_DURATION_V = bytes([0x03])
+INT1_CFG_V = bytes([0x95])
+EMPTY = bytes([0x00])
+
+class lis3dh:
+    def __init__(self, i2cBus, i2cAddress=0x18, samplerate=SAMPLERATE_1HZ):
+        sleep(0.005)
+        self.i2c = i2cBus
+        self.addr = i2cAddress
+        self.samplerate = samplerate
+        i2cBus.pec = True  # enable smbus2 Packet Error Checking
+
+        #First try; configure beginning from 0x20 with MSB = 1 to increment
+        config1 = smbus2.i2c_msg.write(self.addr, [0xC0,0x1F,0x00,0x00,0x00,0x00,0x00,0x00])
+        config2 = smbus2.i2c_msg.write(self.addr, [0xB2,0x00,0x00]) #Configure 0x32 with MSB = 1 to increment
+        config3 = smbus2.i2c_msg.write(self.addr, [0x30,0x00]) #Configure 0x30
+        config4 = smbus2.i2c_msg.write(self.addr, [0x24,0x00]) #Configure 0x24 again
+        self.i2c.i2c_rdwr(config1, config2, config3, config4)
+
+    def readAll(self) -> list:
+        check_status = smbus2.i2c_msg.write(self.addr, [0x27])
+        read_axis = smbus2.i2c_msg.read(self.addr, 1)
+        prepare_x = smbus2.i2c_msg.write(self.addr, [0x28])
+        prepare_y = smbus2.i2c_msg.write(self.addr, [0x2A])
+        prepare_z = smbus2.i2c_msg.write(self.addr, [0x2C])
+        read_status = smbus2.i2c_msg.read(self.addr, 1)
+        status = self.i2c.i2c_rdwr(check_status, read_status)
+        while status.buf[0] != 0b1111:
+            sleep(0.00001)
+        x = self.i2c.i2c_rdwr(prepare_x, read_axis)
+        y = self.i2c.i2c_rdwr(prepare_y, read_axis)
+        z = self.i2c.i2c_rdwr(prepare_z, read_axis)
+        X = int.from_bytes(x.buf[0])
+        Y = int.from_bytes(y.buf[0])
+        Z = int.from_bytes(z.buf[0])
+        return [X,Y,Z]
\ No newline at end of file
diff --git a/main.py b/main.py
index cc8d835..4a2a346 100644
--- a/main.py
+++ b/main.py
@@ -1 +1,11 @@
-print("Raspberry Pi Zero W, up and running!")
\ No newline at end of file
+import lis3dh.py
+
+print("Raspberry Pi Zero W, up and running!")
+
+accel = lis3dh()
+
+print("LIS3DH initiated successfully!")
+
+while True:
+    [X,Y,Z] = accel.readAll()
+    print("X: ",X,"\tY: ",Y,"\t Z: ",Z,"\n")
\ No newline at end of file

From 9ac478555050bd0b5dff430a9a65e3472ad1adf7 Mon Sep 17 00:00:00 2001
From: Kacper <kacper.neumann19@imperial.ac.uk>
Date: Sat, 26 Feb 2022 22:34:27 +0000
Subject: [PATCH 02/35] Fixed import

---
 main.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/main.py b/main.py
index 4a2a346..2d7a35c 100644
--- a/main.py
+++ b/main.py
@@ -1,4 +1,4 @@
-import lis3dh.py
+from . import lis3dh.py
 
 print("Raspberry Pi Zero W, up and running!")
 

From 4f7c676e53f4108c167066efdec646547c9e503e Mon Sep 17 00:00:00 2001
From: Kacper <kacper.neumann19@imperial.ac.uk>
Date: Sat, 26 Feb 2022 22:36:47 +0000
Subject: [PATCH 03/35] Maybe not fixed per se

---
 main.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/main.py b/main.py
index 2d7a35c..0a6e931 100644
--- a/main.py
+++ b/main.py
@@ -1,4 +1,4 @@
-from . import lis3dh.py
+from lis3dh import *
 
 print("Raspberry Pi Zero W, up and running!")
 

From 735cac77685c33315ecd2ca8496837f8bbd3dfb0 Mon Sep 17 00:00:00 2001
From: Kacper <kacper.neumann19@imperial.ac.uk>
Date: Sat, 26 Feb 2022 22:56:00 +0000
Subject: [PATCH 04/35] Update lis3dh.py

---
 lis3dh.py | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/lis3dh.py b/lis3dh.py
index f5ab202..309716e 100644
--- a/lis3dh.py
+++ b/lis3dh.py
@@ -65,8 +65,9 @@ class lis3dh:
         prepare_z = smbus2.i2c_msg.write(self.addr, [0x2C])
         read_status = smbus2.i2c_msg.read(self.addr, 1)
         status = self.i2c.i2c_rdwr(check_status, read_status)
-        while status.buf[0] != 0b1111:
-            sleep(0.00001)
+        #while status.buf[0] != 0b1111:
+        #    sleep(0.00001)
+        print(status)
         x = self.i2c.i2c_rdwr(prepare_x, read_axis)
         y = self.i2c.i2c_rdwr(prepare_y, read_axis)
         z = self.i2c.i2c_rdwr(prepare_z, read_axis)

From c881e589fb79b72381f6c1b1b2f61bdc36f7be02 Mon Sep 17 00:00:00 2001
From: Kacper <kacper.neumann19@imperial.ac.uk>
Date: Sat, 26 Feb 2022 22:59:11 +0000
Subject: [PATCH 05/35] Update lis3dh.py

---
 lis3dh.py | 11 +++++------
 1 file changed, 5 insertions(+), 6 deletions(-)

diff --git a/lis3dh.py b/lis3dh.py
index 309716e..e4b0abe 100644
--- a/lis3dh.py
+++ b/lis3dh.py
@@ -59,18 +59,17 @@ class lis3dh:
 
     def readAll(self) -> list:
         check_status = smbus2.i2c_msg.write(self.addr, [0x27])
-        read_axis = smbus2.i2c_msg.read(self.addr, 1)
+        x = smbus2.i2c_msg.read(self.addr, 1)
+        y = smbus2.i2c_msg.read(self.addr, 1)
+        z = smbus2.i2c_msg.read(self.addr, 1)
         prepare_x = smbus2.i2c_msg.write(self.addr, [0x28])
         prepare_y = smbus2.i2c_msg.write(self.addr, [0x2A])
         prepare_z = smbus2.i2c_msg.write(self.addr, [0x2C])
         read_status = smbus2.i2c_msg.read(self.addr, 1)
-        status = self.i2c.i2c_rdwr(check_status, read_status)
+        self.i2c.i2c_rdwr(check_status, read_status)
         #while status.buf[0] != 0b1111:
         #    sleep(0.00001)
-        print(status)
-        x = self.i2c.i2c_rdwr(prepare_x, read_axis)
-        y = self.i2c.i2c_rdwr(prepare_y, read_axis)
-        z = self.i2c.i2c_rdwr(prepare_z, read_axis)
+        self.i2c.i2c_rdwr(prepare_x, x, prepare_y, y, prepare_z, z)
         X = int.from_bytes(x.buf[0])
         Y = int.from_bytes(y.buf[0])
         Z = int.from_bytes(z.buf[0])

From 39b971a3c6863c2c57cd57638ac111429a117981 Mon Sep 17 00:00:00 2001
From: Kacper <kacper.neumann19@imperial.ac.uk>
Date: Sat, 26 Feb 2022 23:01:43 +0000
Subject: [PATCH 06/35] Update lis3dh.py

---
 lis3dh.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/lis3dh.py b/lis3dh.py
index e4b0abe..d2d1274 100644
--- a/lis3dh.py
+++ b/lis3dh.py
@@ -65,8 +65,8 @@ class lis3dh:
         prepare_x = smbus2.i2c_msg.write(self.addr, [0x28])
         prepare_y = smbus2.i2c_msg.write(self.addr, [0x2A])
         prepare_z = smbus2.i2c_msg.write(self.addr, [0x2C])
-        read_status = smbus2.i2c_msg.read(self.addr, 1)
-        self.i2c.i2c_rdwr(check_status, read_status)
+        status = smbus2.i2c_msg.read(self.addr, 1)
+        self.i2c.i2c_rdwr(check_status, status)
         #while status.buf[0] != 0b1111:
         #    sleep(0.00001)
         self.i2c.i2c_rdwr(prepare_x, x, prepare_y, y, prepare_z, z)

From 53b5f4cc19f9e20c5ca9d970a7c3c4053ce3306b Mon Sep 17 00:00:00 2001
From: Kacper <kacper.neumann19@imperial.ac.uk>
Date: Sat, 26 Feb 2022 23:02:44 +0000
Subject: [PATCH 07/35] Update lis3dh.py

---
 lis3dh.py | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/lis3dh.py b/lis3dh.py
index d2d1274..beb1e5e 100644
--- a/lis3dh.py
+++ b/lis3dh.py
@@ -69,8 +69,8 @@ class lis3dh:
         self.i2c.i2c_rdwr(check_status, status)
         #while status.buf[0] != 0b1111:
         #    sleep(0.00001)
-        self.i2c.i2c_rdwr(prepare_x, x, prepare_y, y, prepare_z, z)
+        self.i2c.i2c_rdwr(prepare_x, x)#, prepare_y, y, prepare_z, z)
         X = int.from_bytes(x.buf[0])
-        Y = int.from_bytes(y.buf[0])
-        Z = int.from_bytes(z.buf[0])
-        return [X,Y,Z]
\ No newline at end of file
+        #Y = int.from_bytes(y.buf[0])
+        #Z = int.from_bytes(z.buf[0])
+        return [X]
\ No newline at end of file

From 222bd2fe3ab20f5b1612e51cba74c569c30e2561 Mon Sep 17 00:00:00 2001
From: Kacper <kacper.neumann19@imperial.ac.uk>
Date: Sat, 26 Feb 2022 23:03:15 +0000
Subject: [PATCH 08/35] Update lis3dh.py

---
 lis3dh.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/lis3dh.py b/lis3dh.py
index beb1e5e..4f46334 100644
--- a/lis3dh.py
+++ b/lis3dh.py
@@ -70,7 +70,7 @@ class lis3dh:
         #while status.buf[0] != 0b1111:
         #    sleep(0.00001)
         self.i2c.i2c_rdwr(prepare_x, x)#, prepare_y, y, prepare_z, z)
-        X = int.from_bytes(x.buf[0])
+        X = int.from_bytes(x.buf[0],"big")
         #Y = int.from_bytes(y.buf[0])
         #Z = int.from_bytes(z.buf[0])
         return [X]
\ No newline at end of file

From 7091f70b4677306d230f8015591eed5ca544d61d Mon Sep 17 00:00:00 2001
From: Kacper <kacper.neumann19@imperial.ac.uk>
Date: Sat, 26 Feb 2022 23:04:22 +0000
Subject: [PATCH 09/35] Update lis3dh.py

---
 lis3dh.py | 10 ++++++----
 1 file changed, 6 insertions(+), 4 deletions(-)

diff --git a/lis3dh.py b/lis3dh.py
index 4f46334..51df0c7 100644
--- a/lis3dh.py
+++ b/lis3dh.py
@@ -69,8 +69,10 @@ class lis3dh:
         self.i2c.i2c_rdwr(check_status, status)
         #while status.buf[0] != 0b1111:
         #    sleep(0.00001)
-        self.i2c.i2c_rdwr(prepare_x, x)#, prepare_y, y, prepare_z, z)
+        self.i2c.i2c_rdwr(prepare_x, x)
+        self.i2c.i2c_rdwr(prepare_y, y)
+        self.i2c.i2c_rdwr(prepare_z, z)
         X = int.from_bytes(x.buf[0],"big")
-        #Y = int.from_bytes(y.buf[0])
-        #Z = int.from_bytes(z.buf[0])
-        return [X]
\ No newline at end of file
+        Y = int.from_bytes(y.buf[0],"big")
+        Z = int.from_bytes(z.buf[0],"big")
+        return [X,Y,Z]
\ No newline at end of file

From 36a7d87bb0623762f90a68e531d1d74d81cab1d6 Mon Sep 17 00:00:00 2001
From: Kacper <kacper.neumann19@imperial.ac.uk>
Date: Sat, 26 Feb 2022 23:05:48 +0000
Subject: [PATCH 10/35] Update main.py

---
 main.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/main.py b/main.py
index 0a6e931..2309f88 100644
--- a/main.py
+++ b/main.py
@@ -1,8 +1,8 @@
 from lis3dh import *
 
 print("Raspberry Pi Zero W, up and running!")
-
-accel = lis3dh()
+bus = smbus2.SMBus(1)
+accel = lis3dh(bus)
 
 print("LIS3DH initiated successfully!")
 

From e32e5f93b3f263be0ef63bcf4d3f1095436f2e47 Mon Sep 17 00:00:00 2001
From: Kacper <kacper.neumann19@imperial.ac.uk>
Date: Sat, 26 Feb 2022 23:08:41 +0000
Subject: [PATCH 11/35] Update lis3dh.py

---
 lis3dh.py | 20 +++++++++++---------
 1 file changed, 11 insertions(+), 9 deletions(-)

diff --git a/lis3dh.py b/lis3dh.py
index 51df0c7..4a458a4 100644
--- a/lis3dh.py
+++ b/lis3dh.py
@@ -67,12 +67,14 @@ class lis3dh:
         prepare_z = smbus2.i2c_msg.write(self.addr, [0x2C])
         status = smbus2.i2c_msg.read(self.addr, 1)
         self.i2c.i2c_rdwr(check_status, status)
-        #while status.buf[0] != 0b1111:
-        #    sleep(0.00001)
-        self.i2c.i2c_rdwr(prepare_x, x)
-        self.i2c.i2c_rdwr(prepare_y, y)
-        self.i2c.i2c_rdwr(prepare_z, z)
-        X = int.from_bytes(x.buf[0],"big")
-        Y = int.from_bytes(y.buf[0],"big")
-        Z = int.from_bytes(z.buf[0],"big")
-        return [X,Y,Z]
\ No newline at end of file
+        while status.buf[0] != 0b1111:
+            sleep(1)
+            self.i2c.i2c_rdwr(check_status, status)
+        if status.buf[0] == 0b1111:
+            self.i2c.i2c_rdwr(prepare_x, x)
+            self.i2c.i2c_rdwr(prepare_y, y)
+            self.i2c.i2c_rdwr(prepare_z, z)
+            X = int.from_bytes(x.buf[0],"big")
+            Y = int.from_bytes(y.buf[0],"big")
+            Z = int.from_bytes(z.buf[0],"big")
+            return [X,Y,Z]
\ No newline at end of file

From 4314109f75d0ba9bbf7b7af2ab93d241439de3a7 Mon Sep 17 00:00:00 2001
From: Kacper <kacper.neumann19@imperial.ac.uk>
Date: Sat, 26 Feb 2022 23:22:36 +0000
Subject: [PATCH 12/35] Update lis3dh.py

---
 lis3dh.py | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/lis3dh.py b/lis3dh.py
index 4a458a4..34da1b8 100644
--- a/lis3dh.py
+++ b/lis3dh.py
@@ -1,6 +1,7 @@
 """Library for interacting with LIS3DH triple-axis accelerometer."""
 
 from importlib.resources import read_text
+from re import S
 from tabnanny import check
 import smbus2
 from time import sleep
@@ -56,6 +57,10 @@ class lis3dh:
         config3 = smbus2.i2c_msg.write(self.addr, [0x30,0x00]) #Configure 0x30
         config4 = smbus2.i2c_msg.write(self.addr, [0x24,0x00]) #Configure 0x24 again
         self.i2c.i2c_rdwr(config1, config2, config3, config4)
+        check_CTRL_REG1 = smbus2.i2c_msg.write(self.addr, [0x20])
+        ctrl_reg1 = smbus2.i2c_msg.read(self.addr, 1)
+        self.i2c.i2c_rdwr(check_CTRL_REG1, ctrl_reg1)
+        print(ctrl_reg1.buf[0])
 
     def readAll(self) -> list:
         check_status = smbus2.i2c_msg.write(self.addr, [0x27])

From 062b180b1b0a76c1d056d381457df9e9642a4f7f Mon Sep 17 00:00:00 2001
From: Kacper <kacper.neumann19@imperial.ac.uk>
Date: Sat, 26 Feb 2022 23:24:29 +0000
Subject: [PATCH 13/35] Update lis3dh.py

---
 lis3dh.py | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/lis3dh.py b/lis3dh.py
index 34da1b8..b610e71 100644
--- a/lis3dh.py
+++ b/lis3dh.py
@@ -52,11 +52,12 @@ class lis3dh:
         i2cBus.pec = True  # enable smbus2 Packet Error Checking
 
         #First try; configure beginning from 0x20 with MSB = 1 to increment
-        config1 = smbus2.i2c_msg.write(self.addr, [0xC0,0x1F,0x00,0x00,0x00,0x00,0x00,0x00])
+        config0 = smbus2.i2c_msg.write(self.addr, [0x20,0x1F])
+        config1 = smbus2.i2c_msg.write(self.addr, [0xC1,0x00,0x00,0x00,0x00,0x00,0x00])
         config2 = smbus2.i2c_msg.write(self.addr, [0xB2,0x00,0x00]) #Configure 0x32 with MSB = 1 to increment
         config3 = smbus2.i2c_msg.write(self.addr, [0x30,0x00]) #Configure 0x30
         config4 = smbus2.i2c_msg.write(self.addr, [0x24,0x00]) #Configure 0x24 again
-        self.i2c.i2c_rdwr(config1, config2, config3, config4)
+        self.i2c.i2c_rdwr(config0, config1, config2, config3, config4)
         check_CTRL_REG1 = smbus2.i2c_msg.write(self.addr, [0x20])
         ctrl_reg1 = smbus2.i2c_msg.read(self.addr, 1)
         self.i2c.i2c_rdwr(check_CTRL_REG1, ctrl_reg1)

From 3bc60950149da3f6ba0d3517ca995f546a5b9deb Mon Sep 17 00:00:00 2001
From: Kacper <kacper.neumann19@imperial.ac.uk>
Date: Sat, 26 Feb 2022 23:34:23 +0000
Subject: [PATCH 14/35] Update lis3dh.py

---
 lis3dh.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/lis3dh.py b/lis3dh.py
index b610e71..6bc8b7b 100644
--- a/lis3dh.py
+++ b/lis3dh.py
@@ -74,6 +74,7 @@ class lis3dh:
         status = smbus2.i2c_msg.read(self.addr, 1)
         self.i2c.i2c_rdwr(check_status, status)
         while status.buf[0] != 0b1111:
+            print(status.buf[0], "\n")
             sleep(1)
             self.i2c.i2c_rdwr(check_status, status)
         if status.buf[0] == 0b1111:

From e534469ab57867f198bb6b8142a5765264d1b9c5 Mon Sep 17 00:00:00 2001
From: Kacper <kacper.neumann19@imperial.ac.uk>
Date: Sat, 26 Feb 2022 23:36:07 +0000
Subject: [PATCH 15/35] Update lis3dh.py

---
 lis3dh.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/lis3dh.py b/lis3dh.py
index 6bc8b7b..753e518 100644
--- a/lis3dh.py
+++ b/lis3dh.py
@@ -73,7 +73,7 @@ class lis3dh:
         prepare_z = smbus2.i2c_msg.write(self.addr, [0x2C])
         status = smbus2.i2c_msg.read(self.addr, 1)
         self.i2c.i2c_rdwr(check_status, status)
-        while status.buf[0] != 0b1111:
+        while (status.buf[0] & 0b1111) != 0b1111:
             print(status.buf[0], "\n")
             sleep(1)
             self.i2c.i2c_rdwr(check_status, status)

From c3403bd47d8ef12a437cca7f6c7785e85e62c23d Mon Sep 17 00:00:00 2001
From: Kacper <kacper.neumann19@imperial.ac.uk>
Date: Sat, 26 Feb 2022 23:38:45 +0000
Subject: [PATCH 16/35] Update lis3dh.py

---
 lis3dh.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/lis3dh.py b/lis3dh.py
index 753e518..ad7f503 100644
--- a/lis3dh.py
+++ b/lis3dh.py
@@ -73,7 +73,7 @@ class lis3dh:
         prepare_z = smbus2.i2c_msg.write(self.addr, [0x2C])
         status = smbus2.i2c_msg.read(self.addr, 1)
         self.i2c.i2c_rdwr(check_status, status)
-        while (status.buf[0] & 0b1111) != 0b1111:
+        while (int.from_bytes(status.buf[0],"big") & 0b1111) != 0b1111:
             print(status.buf[0], "\n")
             sleep(1)
             self.i2c.i2c_rdwr(check_status, status)

From 6c0806a37731c01dba1555953a267aaf0017f365 Mon Sep 17 00:00:00 2001
From: Kacper <kacper.neumann19@imperial.ac.uk>
Date: Sat, 26 Feb 2022 23:40:28 +0000
Subject: [PATCH 17/35] Update lis3dh.py

---
 lis3dh.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/lis3dh.py b/lis3dh.py
index ad7f503..54e7c20 100644
--- a/lis3dh.py
+++ b/lis3dh.py
@@ -77,11 +77,12 @@ class lis3dh:
             print(status.buf[0], "\n")
             sleep(1)
             self.i2c.i2c_rdwr(check_status, status)
-        if status.buf[0] == 0b1111:
+        if (int.from_bytes(status.buf[0],"big") & 0b1111) == 0b1111:
             self.i2c.i2c_rdwr(prepare_x, x)
             self.i2c.i2c_rdwr(prepare_y, y)
             self.i2c.i2c_rdwr(prepare_z, z)
             X = int.from_bytes(x.buf[0],"big")
             Y = int.from_bytes(y.buf[0],"big")
             Z = int.from_bytes(z.buf[0],"big")
+            print(X,Y,Z)
             return [X,Y,Z]
\ No newline at end of file

From 756b07f52ad6cdb53dd8557eed7689f62bd49c03 Mon Sep 17 00:00:00 2001
From: Kacper <kacper.neumann19@imperial.ac.uk>
Date: Sat, 26 Feb 2022 23:41:31 +0000
Subject: [PATCH 18/35] Update lis3dh.py

---
 lis3dh.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/lis3dh.py b/lis3dh.py
index 54e7c20..39b4199 100644
--- a/lis3dh.py
+++ b/lis3dh.py
@@ -78,6 +78,7 @@ class lis3dh:
             sleep(1)
             self.i2c.i2c_rdwr(check_status, status)
         if (int.from_bytes(status.buf[0],"big") & 0b1111) == 0b1111:
+            print("Status: ",status.buf[0], "\n")
             self.i2c.i2c_rdwr(prepare_x, x)
             self.i2c.i2c_rdwr(prepare_y, y)
             self.i2c.i2c_rdwr(prepare_z, z)

From 1aa1c426d4b6cd4cc22c287a1ef8878aba279290 Mon Sep 17 00:00:00 2001
From: Kacper <kacper.neumann19@imperial.ac.uk>
Date: Sat, 26 Feb 2022 23:47:48 +0000
Subject: [PATCH 19/35] Update lis3dh.py

---
 lis3dh.py | 9 ++++-----
 1 file changed, 4 insertions(+), 5 deletions(-)

diff --git a/lis3dh.py b/lis3dh.py
index 39b4199..cc897b7 100644
--- a/lis3dh.py
+++ b/lis3dh.py
@@ -68,14 +68,14 @@ class lis3dh:
         x = smbus2.i2c_msg.read(self.addr, 1)
         y = smbus2.i2c_msg.read(self.addr, 1)
         z = smbus2.i2c_msg.read(self.addr, 1)
-        prepare_x = smbus2.i2c_msg.write(self.addr, [0x28])
-        prepare_y = smbus2.i2c_msg.write(self.addr, [0x2A])
-        prepare_z = smbus2.i2c_msg.write(self.addr, [0x2C])
+        prepare_x = smbus2.i2c_msg.write(self.addr, [0x29])
+        prepare_y = smbus2.i2c_msg.write(self.addr, [0x2B])
+        prepare_z = smbus2.i2c_msg.write(self.addr, [0x2D])
         status = smbus2.i2c_msg.read(self.addr, 1)
         self.i2c.i2c_rdwr(check_status, status)
         while (int.from_bytes(status.buf[0],"big") & 0b1111) != 0b1111:
             print(status.buf[0], "\n")
-            sleep(1)
+            sleep(0.01)
             self.i2c.i2c_rdwr(check_status, status)
         if (int.from_bytes(status.buf[0],"big") & 0b1111) == 0b1111:
             print("Status: ",status.buf[0], "\n")
@@ -85,5 +85,4 @@ class lis3dh:
             X = int.from_bytes(x.buf[0],"big")
             Y = int.from_bytes(y.buf[0],"big")
             Z = int.from_bytes(z.buf[0],"big")
-            print(X,Y,Z)
             return [X,Y,Z]
\ No newline at end of file

From d21f79a2970a73bc12c95b84760b0344246fcc3d Mon Sep 17 00:00:00 2001
From: Kacper <kacper.neumann19@imperial.ac.uk>
Date: Sat, 26 Feb 2022 23:48:24 +0000
Subject: [PATCH 20/35] Update lis3dh.py

---
 lis3dh.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/lis3dh.py b/lis3dh.py
index cc897b7..c98f0e5 100644
--- a/lis3dh.py
+++ b/lis3dh.py
@@ -78,7 +78,7 @@ class lis3dh:
             sleep(0.01)
             self.i2c.i2c_rdwr(check_status, status)
         if (int.from_bytes(status.buf[0],"big") & 0b1111) == 0b1111:
-            print("Status: ",status.buf[0], "\n")
+            #print("Status: ",status.buf[0], "\n")
             self.i2c.i2c_rdwr(prepare_x, x)
             self.i2c.i2c_rdwr(prepare_y, y)
             self.i2c.i2c_rdwr(prepare_z, z)

From eae0e52cddea319ff9469009f54cfefd93a3a982 Mon Sep 17 00:00:00 2001
From: Kacper <kacper.neumann19@imperial.ac.uk>
Date: Sat, 26 Feb 2022 23:48:47 +0000
Subject: [PATCH 21/35] Update lis3dh.py

---
 lis3dh.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/lis3dh.py b/lis3dh.py
index c98f0e5..8a3b9be 100644
--- a/lis3dh.py
+++ b/lis3dh.py
@@ -74,7 +74,7 @@ class lis3dh:
         status = smbus2.i2c_msg.read(self.addr, 1)
         self.i2c.i2c_rdwr(check_status, status)
         while (int.from_bytes(status.buf[0],"big") & 0b1111) != 0b1111:
-            print(status.buf[0], "\n")
+            #print(status.buf[0], "\n")
             sleep(0.01)
             self.i2c.i2c_rdwr(check_status, status)
         if (int.from_bytes(status.buf[0],"big") & 0b1111) == 0b1111:

From 898cd451dbe2ca7652e09b2ff45d39bab3012f1b Mon Sep 17 00:00:00 2001
From: Kacper <kacper.neumann19@imperial.ac.uk>
Date: Sun, 27 Feb 2022 01:13:05 +0000
Subject: [PATCH 22/35] Basic reading almost complete

---
 lis3dh.py | 52 +++++++++++++++++++++++++++++++++++-----------------
 main.py   |  2 +-
 2 files changed, 36 insertions(+), 18 deletions(-)

diff --git a/lis3dh.py b/lis3dh.py
index 8a3b9be..1d5eb7a 100644
--- a/lis3dh.py
+++ b/lis3dh.py
@@ -44,26 +44,41 @@ INT1_CFG_V = bytes([0x95])
 EMPTY = bytes([0x00])
 
 class lis3dh:
-    def __init__(self, i2cBus, i2cAddress=0x18, samplerate=SAMPLERATE_1HZ):
+    def __init__(self, i2cBus, resolution=2, samplerate=10, i2cAddress=0x18):
         sleep(0.005)
         self.i2c = i2cBus
         self.addr = i2cAddress
         self.samplerate = samplerate
         i2cBus.pec = True  # enable smbus2 Packet Error Checking
+        res_modes = {
+            2: 0b00, 4: 0b01,
+            8: 0b10, 16: 0b11
+        }
+        sample_modes = {
+            0:0x0, 1:0x1, 10:0x2, 25:0x3, 50:0x4,
+            100:0x5, 200:0x6, 400:0x7
+        }
 
-        #First try; configure beginning from 0x20 with MSB = 1 to increment
-        config0 = smbus2.i2c_msg.write(self.addr, [0x20,0x1F])
-        config1 = smbus2.i2c_msg.write(self.addr, [0xC1,0x00,0x00,0x00,0x00,0x00,0x00])
-        config2 = smbus2.i2c_msg.write(self.addr, [0xB2,0x00,0x00]) #Configure 0x32 with MSB = 1 to increment
-        config3 = smbus2.i2c_msg.write(self.addr, [0x30,0x00]) #Configure 0x30
-        config4 = smbus2.i2c_msg.write(self.addr, [0x24,0x00]) #Configure 0x24 again
+        # Check if user-entered values are correct
+        if resolution in res_modes:
+            self.resolution = resolution
+        else:
+            raise Exception("Invalid resolution.")
+        if samplerate in sample_modes:
+            self.samplerate = sample_modes[samplerate]
+        else:
+            raise Exception("Invalid sample rate.")
+
+        # First try; configure beginning from 0x20
+        config0 = smbus2.i2c_msg.write(self.addr, [0x20,(sample_modes[samplerate]<<4)|0xF]) # Initialise in low power mode
+        config1 = smbus2.i2c_msg.write(self.addr, [0xC1,0x00,0x00,0x00|self.resolution,0x00,0x00,0x00])
+        config2 = smbus2.i2c_msg.write(self.addr, [0xB2,0x00,0x00]) # Configure 0x32 with MSB = 1 to increment
+        config3 = smbus2.i2c_msg.write(self.addr, [0x30,0x00]) # Configure 0x30
+        config4 = smbus2.i2c_msg.write(self.addr, [0x24,0x00]) # Configure 0x24 again
         self.i2c.i2c_rdwr(config0, config1, config2, config3, config4)
-        check_CTRL_REG1 = smbus2.i2c_msg.write(self.addr, [0x20])
-        ctrl_reg1 = smbus2.i2c_msg.read(self.addr, 1)
-        self.i2c.i2c_rdwr(check_CTRL_REG1, ctrl_reg1)
-        print(ctrl_reg1.buf[0])
 
     def readAll(self) -> list:
+        '''Read acceleration data from all axes. Returns values as a list [X,Y,Z].'''
         check_status = smbus2.i2c_msg.write(self.addr, [0x27])
         x = smbus2.i2c_msg.read(self.addr, 1)
         y = smbus2.i2c_msg.read(self.addr, 1)
@@ -73,16 +88,19 @@ class lis3dh:
         prepare_z = smbus2.i2c_msg.write(self.addr, [0x2D])
         status = smbus2.i2c_msg.read(self.addr, 1)
         self.i2c.i2c_rdwr(check_status, status)
-        while (int.from_bytes(status.buf[0],"big") & 0b1111) != 0b1111:
-            #print(status.buf[0], "\n")
-            sleep(0.01)
+
+        while status.buf[0][0] & 0b1111 != 0b1111: # Wait for data to be available
+            sleep(0.001)
             self.i2c.i2c_rdwr(check_status, status)
-        if (int.from_bytes(status.buf[0],"big") & 0b1111) == 0b1111:
-            #print("Status: ",status.buf[0], "\n")
+
+        if status.buf[0][0] & 0b1111 == 0b1111: # If data is available, read
             self.i2c.i2c_rdwr(prepare_x, x)
             self.i2c.i2c_rdwr(prepare_y, y)
             self.i2c.i2c_rdwr(prepare_z, z)
             X = int.from_bytes(x.buf[0],"big")
             Y = int.from_bytes(y.buf[0],"big")
             Z = int.from_bytes(z.buf[0],"big")
-            return [X,Y,Z]
\ No newline at end of file
+            # TODO: Need to format this so that it returns values in g
+            return [X,Y,Z]
+        else:
+            return None # Should never get here lol
\ No newline at end of file
diff --git a/main.py b/main.py
index 2309f88..5c02b6f 100644
--- a/main.py
+++ b/main.py
@@ -2,7 +2,7 @@ from lis3dh import *
 
 print("Raspberry Pi Zero W, up and running!")
 bus = smbus2.SMBus(1)
-accel = lis3dh(bus)
+accel = lis3dh(bus,10)
 
 print("LIS3DH initiated successfully!")
 

From 65bddab7f591d3863b7383c9b07f3a44b2625bb8 Mon Sep 17 00:00:00 2001
From: Kacper <kacper.neumann19@imperial.ac.uk>
Date: Tue, 1 Mar 2022 09:05:45 +0000
Subject: [PATCH 23/35] Update lis3dh.py

---
 lis3dh.py | 11 +++++++++--
 1 file changed, 9 insertions(+), 2 deletions(-)

diff --git a/lis3dh.py b/lis3dh.py
index 1d5eb7a..5a3cf44 100644
--- a/lis3dh.py
+++ b/lis3dh.py
@@ -100,7 +100,14 @@ class lis3dh:
             X = int.from_bytes(x.buf[0],"big")
             Y = int.from_bytes(y.buf[0],"big")
             Z = int.from_bytes(z.buf[0],"big")
-            # TODO: Need to format this so that it returns values in g
-            return [X,Y,Z]
+            new_values = []
+            for D in [X,Y,Z]:
+                MSB = D >> 7
+                if MSB == 1:
+                    res = -128 + (D - 128)
+                else:
+                    res = D
+                new_values.append(res)
+            return new_values
         else:
             return None # Should never get here lol
\ No newline at end of file

From f9082650ea7267268030d542ead3e90e2830ec0b Mon Sep 17 00:00:00 2001
From: Kacper <kacper.neumann19@imperial.ac.uk>
Date: Tue, 1 Mar 2022 09:06:53 +0000
Subject: [PATCH 24/35] Update main.py

---
 main.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/main.py b/main.py
index 5c02b6f..ba97ab1 100644
--- a/main.py
+++ b/main.py
@@ -2,7 +2,7 @@ from lis3dh import *
 
 print("Raspberry Pi Zero W, up and running!")
 bus = smbus2.SMBus(1)
-accel = lis3dh(bus,10)
+accel = lis3dh(bus,2,10)
 
 print("LIS3DH initiated successfully!")
 

From 2468ac039f7dbd7c28f478317b050ad3f4bc2146 Mon Sep 17 00:00:00 2001
From: Kacper <kacper.neumann19@imperial.ac.uk>
Date: Tue, 1 Mar 2022 09:10:01 +0000
Subject: [PATCH 25/35] Update lis3dh.py

---
 lis3dh.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/lis3dh.py b/lis3dh.py
index 5a3cf44..8865725 100644
--- a/lis3dh.py
+++ b/lis3dh.py
@@ -104,9 +104,9 @@ class lis3dh:
             for D in [X,Y,Z]:
                 MSB = D >> 7
                 if MSB == 1:
-                    res = -128 + (D - 128)
+                    res = (-128 + (D - 128))/(128*self.resolution)
                 else:
-                    res = D
+                    res = D/(128*self.resolution)
                 new_values.append(res)
             return new_values
         else:

From 3ff2e4eecebdd6e47e0feb669e3d98cb41920794 Mon Sep 17 00:00:00 2001
From: Kacper <kacper.neumann19@imperial.ac.uk>
Date: Tue, 1 Mar 2022 09:12:01 +0000
Subject: [PATCH 26/35] Update lis3dh.py

---
 lis3dh.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/lis3dh.py b/lis3dh.py
index 8865725..770083e 100644
--- a/lis3dh.py
+++ b/lis3dh.py
@@ -104,9 +104,9 @@ class lis3dh:
             for D in [X,Y,Z]:
                 MSB = D >> 7
                 if MSB == 1:
-                    res = (-128 + (D - 128))/(128*self.resolution)
+                    res = (-128 + (D - 128))*self.resolution/128
                 else:
-                    res = D/(128*self.resolution)
+                    res = (D*self.resolution)/128
                 new_values.append(res)
             return new_values
         else:

From 84d18b2764f6ad71335490962d67cc3651451a6f Mon Sep 17 00:00:00 2001
From: Kacper <kacper.neumann19@imperial.ac.uk>
Date: Tue, 1 Mar 2022 09:18:04 +0000
Subject: [PATCH 27/35] Update main.py

---
 main.py | 8 +++++++-
 1 file changed, 7 insertions(+), 1 deletion(-)

diff --git a/main.py b/main.py
index ba97ab1..d7f785d 100644
--- a/main.py
+++ b/main.py
@@ -6,6 +6,12 @@ accel = lis3dh(bus,2,10)
 
 print("LIS3DH initiated successfully!")
 
+f = open("output.txt","x")
+print("X","Y","Z", file=f)
+f.close()
+
 while True:
     [X,Y,Z] = accel.readAll()
-    print("X: ",X,"\tY: ",Y,"\t Z: ",Z,"\n")
\ No newline at end of file
+    with open("output.txt","a") as f:
+        print("X: ",X,"\tY: ",Y,"\t Z: ",Z,"\n")
+        print(X,Y,Z, file=f)
\ No newline at end of file

From 123e092d4c3f11ab55ffaf9da1035ea2a9dce300 Mon Sep 17 00:00:00 2001
From: Kacper <kacper.neumann19@imperial.ac.uk>
Date: Tue, 1 Mar 2022 14:26:58 +0000
Subject: [PATCH 28/35] Update main.py

---
 main.py | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/main.py b/main.py
index d7f785d..87e8e4d 100644
--- a/main.py
+++ b/main.py
@@ -1,4 +1,5 @@
 from lis3dh import *
+from datetime import datetime
 
 print("Raspberry Pi Zero W, up and running!")
 bus = smbus2.SMBus(1)
@@ -6,7 +7,8 @@ accel = lis3dh(bus,2,10)
 
 print("LIS3DH initiated successfully!")
 
-f = open("output.txt","x")
+name = "output_"+datetime.now()+".txt"
+f = open(name,"x")
 print("X","Y","Z", file=f)
 f.close()
 

From b8d21cf0e7ee25785a492b640e9a9f89b0331e50 Mon Sep 17 00:00:00 2001
From: Kacper <kacper.neumann19@imperial.ac.uk>
Date: Tue, 1 Mar 2022 14:29:35 +0000
Subject: [PATCH 29/35] Update main.py

---
 main.py | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/main.py b/main.py
index 87e8e4d..a13041a 100644
--- a/main.py
+++ b/main.py
@@ -7,7 +7,9 @@ accel = lis3dh(bus,2,10)
 
 print("LIS3DH initiated successfully!")
 
-name = "output_"+datetime.now()+".txt"
+now = datetime.now()
+date_time = now.strftime("%d_%m_%Y_%H_%M_%S")
+name = "output_"+date_time+".txt"
 f = open(name,"x")
 print("X","Y","Z", file=f)
 f.close()

From ac5f883981bfcbad989db0d270b14dccf19ff5cb Mon Sep 17 00:00:00 2001
From: Kacper <kacper.neumann19@imperial.ac.uk>
Date: Tue, 1 Mar 2022 14:30:22 +0000
Subject: [PATCH 30/35] Update main.py

---
 main.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/main.py b/main.py
index a13041a..a6cc3f5 100644
--- a/main.py
+++ b/main.py
@@ -16,6 +16,6 @@ f.close()
 
 while True:
     [X,Y,Z] = accel.readAll()
-    with open("output.txt","a") as f:
+    with open(name,"a") as f:
         print("X: ",X,"\tY: ",Y,"\t Z: ",Z,"\n")
         print(X,Y,Z, file=f)
\ No newline at end of file

From 4c10e5de06989f7c822bdcc09e4ab875b8759509 Mon Sep 17 00:00:00 2001
From: Kacper <kacper.neumann19@imperial.ac.uk>
Date: Tue, 1 Mar 2022 14:33:09 +0000
Subject: [PATCH 31/35] Tweaking

---
 lis3dh.py | 3 +++
 main.py   | 2 +-
 2 files changed, 4 insertions(+), 1 deletion(-)

diff --git a/lis3dh.py b/lis3dh.py
index 770083e..9e3c606 100644
--- a/lis3dh.py
+++ b/lis3dh.py
@@ -100,6 +100,8 @@ class lis3dh:
             X = int.from_bytes(x.buf[0],"big")
             Y = int.from_bytes(y.buf[0],"big")
             Z = int.from_bytes(z.buf[0],"big")
+
+            # Convert from binary 2s complement to useful data
             new_values = []
             for D in [X,Y,Z]:
                 MSB = D >> 7
@@ -108,6 +110,7 @@ class lis3dh:
                 else:
                     res = (D*self.resolution)/128
                 new_values.append(res)
+                
             return new_values
         else:
             return None # Should never get here lol
\ No newline at end of file
diff --git a/main.py b/main.py
index a6cc3f5..756a94d 100644
--- a/main.py
+++ b/main.py
@@ -3,7 +3,7 @@ from datetime import datetime
 
 print("Raspberry Pi Zero W, up and running!")
 bus = smbus2.SMBus(1)
-accel = lis3dh(bus,2,10)
+accel = lis3dh(bus,2,1)
 
 print("LIS3DH initiated successfully!")
 

From 3e7a3cfad6a097e34468a239438d1aef39752d38 Mon Sep 17 00:00:00 2001
From: kmn219 <58340321+kmn219@users.noreply.github.com>
Date: Tue, 1 Mar 2022 14:37:20 +0000
Subject: [PATCH 32/35] Step measurement

---
 output_01_03_2022_14_35_09.txt | 587 +++++++++++++++++++++++++++++++++
 1 file changed, 587 insertions(+)
 create mode 100644 output_01_03_2022_14_35_09.txt

diff --git a/output_01_03_2022_14_35_09.txt b/output_01_03_2022_14_35_09.txt
new file mode 100644
index 0000000..ad2d544
--- /dev/null
+++ b/output_01_03_2022_14_35_09.txt
@@ -0,0 +1,587 @@
+X Y Z
+0.09375 0.03125 1.03125
+0.03125 -0.015625 1.03125
+0.046875 0.015625 1.015625
+0.0625 0.015625 1.03125
+0.0625 0.0 1.03125
+0.125 0.0 1.0
+0.046875 0.015625 1.03125
+0.046875 0.015625 1.046875
+0.0625 0.015625 1.03125
+0.046875 0.015625 0.90625
+0.046875 0.015625 0.890625
+0.0625 0.03125 0.984375
+0.046875 0.015625 1.03125
+0.046875 0.015625 1.03125
+0.0625 0.015625 1.03125
+0.0625 0.015625 1.03125
+0.03125 0.03125 1.03125
+0.0625 0.015625 1.015625
+0.03125 0.0 1.03125
+0.046875 0.015625 1.03125
+0.03125 -0.015625 1.078125
+0.0625 0.015625 1.03125
+0.046875 0.015625 1.03125
+0.0625 0.015625 1.03125
+0.0625 0.03125 0.984375
+0.03125 -0.015625 1.03125
+0.0625 0.0 1.015625
+0.046875 0.0 1.015625
+0.0625 0.03125 1.0
+0.0625 0.015625 1.03125
+0.03125 0.0 1.03125
+0.046875 0.03125 0.953125
+0.015625 0.015625 1.03125
+0.0625 0.015625 1.03125
+0.046875 0.015625 1.03125
+0.046875 0.0 1.0625
+0.03125 0.015625 1.03125
+0.046875 0.015625 1.03125
+0.03125 0.015625 1.03125
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From 298e7660b77b602886849faacef22ad868e94b40 Mon Sep 17 00:00:00 2001
From: Kacper <kacper.neumann19@imperial.ac.uk>
Date: Tue, 1 Mar 2022 16:06:12 +0000
Subject: [PATCH 33/35] Programmed in interrupts

---
 lis3dh.py  | 54 +++++++++++++++++++++++++++++++++++++-----------------
 main.py    | 34 +++++++++++++++++++++++++---------
 untitled.m | 14 ++++++++++++++
 3 files changed, 76 insertions(+), 26 deletions(-)
 create mode 100644 untitled.m

diff --git a/lis3dh.py b/lis3dh.py
index 9e3c606..c96813d 100644
--- a/lis3dh.py
+++ b/lis3dh.py
@@ -44,38 +44,58 @@ INT1_CFG_V = bytes([0x95])
 EMPTY = bytes([0x00])
 
 class lis3dh:
-    def __init__(self, i2cBus, resolution=2, samplerate=10, i2cAddress=0x18):
+    def __init__(self, i2cBus, samplerate=10, i2cAddress=0x18):
         sleep(0.005)
         self.i2c = i2cBus
         self.addr = i2cAddress
         self.samplerate = samplerate
         i2cBus.pec = True  # enable smbus2 Packet Error Checking
-        res_modes = {
-            2: 0b00, 4: 0b01,
-            8: 0b10, 16: 0b11
-        }
         sample_modes = {
             0:0x0, 1:0x1, 10:0x2, 25:0x3, 50:0x4,
             100:0x5, 200:0x6, 400:0x7
         }
 
         # Check if user-entered values are correct
-        if resolution in res_modes:
-            self.resolution = resolution
-        else:
-            raise Exception("Invalid resolution.")
         if samplerate in sample_modes:
             self.samplerate = sample_modes[samplerate]
         else:
             raise Exception("Invalid sample rate.")
 
-        # First try; configure beginning from 0x20
-        config0 = smbus2.i2c_msg.write(self.addr, [0x20,(sample_modes[samplerate]<<4)|0xF]) # Initialise in low power mode
-        config1 = smbus2.i2c_msg.write(self.addr, [0xC1,0x00,0x00,0x00|self.resolution,0x00,0x00,0x00])
-        config2 = smbus2.i2c_msg.write(self.addr, [0xB2,0x00,0x00]) # Configure 0x32 with MSB = 1 to increment
-        config3 = smbus2.i2c_msg.write(self.addr, [0x30,0x00]) # Configure 0x30
-        config4 = smbus2.i2c_msg.write(self.addr, [0x24,0x00]) # Configure 0x24 again
-        self.i2c.i2c_rdwr(config0, config1, config2, config3, config4)
+        # Configure all registers in +-2g mode
+        c0 = smbus2.i2c_msg.write(self.addr, [0x20,(sample_modes[samplerate]<<4)|0xF]) # Initialise in low power mode
+        c1 = smbus2.i2c_msg.write(self.addr, [0x21,0x0A])
+        c2 = smbus2.i2c_msg.write(self.addr, [0x22,0x40])
+        c3 = smbus2.i2c_msg.write(self.addr, [0x23,0x00])
+        c4 = smbus2.i2c_msg.write(self.addr, [0x24,0x0A])
+        c5 = smbus2.i2c_msg.write(self.addr, [0x25,0x20])
+        c6 = smbus2.i2c_msg.write(self.addr, [0x2E,0x00])
+        c7 = smbus2.i2c_msg.write(self.addr, [0x30,0x95])
+        c8 = smbus2.i2c_msg.write(self.addr, [0x32,0x16])
+        c9 = smbus2.i2c_msg.write(self.addr, [0x33,0x03])
+        c10 = smbus2.i2c_msg.write(self.addr, [0x34,0x3F])
+        c11 = smbus2.i2c_msg.write(self.addr, [0x36,0x4A])
+        c12 = smbus2.i2c_msg.write(self.addr, [0x24,0x0A]) # Configure 0x24 again
+        self.i2c.i2c_rdwr(c0,c1,c2,c3,c4,c5,c6,c7,c8,c9,c10,c11,c12)
+
+    def resetint1(self) -> bool:
+        '''Read INT1_SRC to reset it after an interrupt event.'''
+        int1_src_loc = smbus2.i2c_msg.write(self.addr, [0x31])
+        read_int1_src = smbus2.i2c_msg.read(self.addr, 1)
+        self.i2c.i2c_rdwr(int1_src_loc,read_int1_src)
+        if read_int1_src.bug[0] != None:
+            return True
+        else:
+            return False
+        
+    def resetint2(self) -> bool:
+        '''Read INT2_SRC to reset it after an interrupt event.'''
+        int2_src_loc = smbus2.i2c_msg.write(self.addr, [0x35])
+        read_int2_src = smbus2.i2c_msg.read(self.addr, 1)
+        self.i2c.i2c_rdwr(int2_src_loc,read_int2_src)
+        if read_int2_src.bug[0] != None:
+            return True
+        else:
+            return False
 
     def readAll(self) -> list:
         '''Read acceleration data from all axes. Returns values as a list [X,Y,Z].'''
@@ -110,7 +130,7 @@ class lis3dh:
                 else:
                     res = (D*self.resolution)/128
                 new_values.append(res)
-                
+
             return new_values
         else:
             return None # Should never get here lol
\ No newline at end of file
diff --git a/main.py b/main.py
index 756a94d..d2f4e19 100644
--- a/main.py
+++ b/main.py
@@ -1,5 +1,8 @@
 from lis3dh import *
 from datetime import datetime
+import signal
+import sys
+import RPi.GPIO as GPIO
 
 print("Raspberry Pi Zero W, up and running!")
 bus = smbus2.SMBus(1)
@@ -7,15 +10,28 @@ accel = lis3dh(bus,2,1)
 
 print("LIS3DH initiated successfully!")
 
-now = datetime.now()
-date_time = now.strftime("%d_%m_%Y_%H_%M_%S")
-name = "output_"+date_time+".txt"
-f = open(name,"x")
-print("X","Y","Z", file=f)
-f.close()
+INT1 = 18
+INT2 = 17
+
+def signal_handler(sig,frame):
+    GPIO.cleanup()
+    sys.exit(0)
+
+def int1_callback(channel):
+    # do something here
+
+GPIO.setmode(GPIO.BCM)
+
+# # Data logging
+# now = datetime.now()
+# date_time = now.strftime("%d_%m_%Y_%H_%M_%S")
+# name = "output_"+date_time+".txt"
+# f = open(name,"x")
+# print("X","Y","Z", file=f)
+# f.close()
 
 while True:
     [X,Y,Z] = accel.readAll()
-    with open(name,"a") as f:
-        print("X: ",X,"\tY: ",Y,"\t Z: ",Z,"\n")
-        print(X,Y,Z, file=f)
\ No newline at end of file
+    print("X: ",X,"\tY: ",Y,"\t Z: ",Z,"\n")
+    # with open(name,"a") as f:
+    #     print(X,Y,Z, file=f)
\ No newline at end of file
diff --git a/untitled.m b/untitled.m
new file mode 100644
index 0000000..dfa92a9
--- /dev/null
+++ b/untitled.m
@@ -0,0 +1,14 @@
+A = importdata('output_01_03_2022_14_35_09.txt');
+X = A.data(:,1);
+Y = A.data(:,2);
+Z = A.data(:,3);
+
+time = linspace(0,length(X)*0.1,length(X));
+
+figure
+plot(time,X,time,Y,time,Z)
+
+sum = sqrt(X.^2+Y.^2+Z.^2);
+
+figure
+plot(time,sum)
\ No newline at end of file

From eb0e171a881971a7a751cc0b14152202d5e7bee3 Mon Sep 17 00:00:00 2001
From: Kacper <kacper.neumann19@imperial.ac.uk>
Date: Tue, 1 Mar 2022 16:08:21 +0000
Subject: [PATCH 34/35] Ignored MATLAB files

---
 .gitignore |  5 ++++-
 untitled.m | 14 --------------
 2 files changed, 4 insertions(+), 15 deletions(-)
 delete mode 100644 untitled.m

diff --git a/.gitignore b/.gitignore
index 89e509d..fd1b15a 100644
--- a/.gitignore
+++ b/.gitignore
@@ -152,4 +152,7 @@ cython_debug/
 #.idea/
 
 # VSCode
-.vscode/
\ No newline at end of file
+.vscode/
+
+# Matlab files
+.m
\ No newline at end of file
diff --git a/untitled.m b/untitled.m
deleted file mode 100644
index dfa92a9..0000000
--- a/untitled.m
+++ /dev/null
@@ -1,14 +0,0 @@
-A = importdata('output_01_03_2022_14_35_09.txt');
-X = A.data(:,1);
-Y = A.data(:,2);
-Z = A.data(:,3);
-
-time = linspace(0,length(X)*0.1,length(X));
-
-figure
-plot(time,X,time,Y,time,Z)
-
-sum = sqrt(X.^2+Y.^2+Z.^2);
-
-figure
-plot(time,sum)
\ No newline at end of file

From ba771c7606d8f4b769006c5bd1e1ae53bc4c3ab9 Mon Sep 17 00:00:00 2001
From: Aadi Desai <21363892+supleed2@users.noreply.github.com>
Date: Tue, 1 Mar 2022 16:42:12 +0000
Subject: [PATCH 35/35] Prepare for Merge

---
 .gitignore                     |   5 +-
 main.py                        |  38 +--
 output_01_03_2022_14_35_09.txt | 587 ---------------------------------
 3 files changed, 2 insertions(+), 628 deletions(-)
 delete mode 100644 output_01_03_2022_14_35_09.txt

diff --git a/.gitignore b/.gitignore
index fd1b15a..89e509d 100644
--- a/.gitignore
+++ b/.gitignore
@@ -152,7 +152,4 @@ cython_debug/
 #.idea/
 
 # VSCode
-.vscode/
-
-# Matlab files
-.m
\ No newline at end of file
+.vscode/
\ No newline at end of file
diff --git a/main.py b/main.py
index d2f4e19..cc8d835 100644
--- a/main.py
+++ b/main.py
@@ -1,37 +1 @@
-from lis3dh import *
-from datetime import datetime
-import signal
-import sys
-import RPi.GPIO as GPIO
-
-print("Raspberry Pi Zero W, up and running!")
-bus = smbus2.SMBus(1)
-accel = lis3dh(bus,2,1)
-
-print("LIS3DH initiated successfully!")
-
-INT1 = 18
-INT2 = 17
-
-def signal_handler(sig,frame):
-    GPIO.cleanup()
-    sys.exit(0)
-
-def int1_callback(channel):
-    # do something here
-
-GPIO.setmode(GPIO.BCM)
-
-# # Data logging
-# now = datetime.now()
-# date_time = now.strftime("%d_%m_%Y_%H_%M_%S")
-# name = "output_"+date_time+".txt"
-# f = open(name,"x")
-# print("X","Y","Z", file=f)
-# f.close()
-
-while True:
-    [X,Y,Z] = accel.readAll()
-    print("X: ",X,"\tY: ",Y,"\t Z: ",Z,"\n")
-    # with open(name,"a") as f:
-    #     print(X,Y,Z, file=f)
\ No newline at end of file
+print("Raspberry Pi Zero W, up and running!")
\ No newline at end of file
diff --git a/output_01_03_2022_14_35_09.txt b/output_01_03_2022_14_35_09.txt
deleted file mode 100644
index ad2d544..0000000
--- a/output_01_03_2022_14_35_09.txt
+++ /dev/null
@@ -1,587 +0,0 @@
-X Y Z
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