#include <Wire.h>

const unsigned char bma456_an_config_file[] = {
    0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00,
    0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0x58, 0x01, 0x80, 0x2e, 0x42, 0x02, 0xb0, 0xf0,
    0x10, 0x30, 0x21, 0x2e, 0x16, 0xf0, 0x80, 0x2e, 0xf0, 0x00, 0x1f, 0x50, 0x1d, 0x52, 0x01, 0x42, 0x3b, 0x80, 0x41,
    0x30, 0x01, 0x42, 0x3c, 0x80, 0x00, 0x2e, 0x01, 0x40, 0x01, 0x42, 0x21, 0x2e, 0xff, 0xaf, 0xb8, 0x2e, 0x2c, 0x82,
    0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18,
    0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0xfd, 0x2d, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
    0x00, 0x00, 0x01, 0x2e, 0x55, 0xf0, 0xc0, 0x2e, 0x21, 0x2e, 0x55, 0xf0, 0x44, 0x47, 0xaa, 0x00, 0x05, 0x00, 0xaa,
    0x00, 0x05, 0x00, 0x42, 0x58, 0x88, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
    0x00, 0x00, 0x00, 0x00, 0x00, 0x19, 0x52, 0x0b, 0x50, 0x60, 0x42, 0x00, 0x3f, 0x0d, 0x54, 0x42, 0x42, 0x69, 0x82,
    0x0f, 0x54, 0x42, 0x42, 0x42, 0x82, 0x4b, 0x30, 0x42, 0x40, 0x10, 0x08, 0x50, 0x42, 0x7e, 0x80, 0x4b, 0x42, 0x61,
    0x30, 0x01, 0x42, 0x10, 0x50, 0x03, 0x2e, 0x40, 0xf0, 0x56, 0xb2, 0x08, 0x80, 0x31, 0x30, 0xf0, 0x7f, 0x03, 0x2f,
    0x01, 0x2e, 0x40, 0xf0, 0x1a, 0x90, 0x21, 0x2f, 0x98, 0x2e, 0x1e, 0xb0, 0x03, 0x30, 0x13, 0x50, 0x17, 0x52, 0x11,
    0x54, 0x54, 0x33, 0x06, 0x30, 0x55, 0x32, 0x1d, 0x1a, 0xe3, 0x22, 0x18, 0x1a, 0x15, 0x58, 0xe3, 0x22, 0x04, 0x30,
    0xd5, 0x40, 0xb5, 0x0d, 0xe1, 0xbe, 0x6f, 0xbb, 0x80, 0x91, 0xa9, 0x0d, 0x01, 0x89, 0xb5, 0x23, 0x10, 0xa1, 0xf7,
    0x2f, 0xda, 0x0e, 0x54, 0x33, 0xeb, 0x2f, 0x01, 0x2e, 0x25, 0x00, 0x70, 0x1a, 0x00, 0x30, 0x21, 0x30, 0x48, 0x22,
    0x40, 0xb2, 0x06, 0x2f, 0x23, 0x2e, 0x59, 0xf0, 0x98, 0x2e, 0x3a, 0x00, 0x00, 0x2e, 0x00, 0x2e, 0xd0, 0x2e, 0xf0,
    0x6f, 0x01, 0x31, 0x20, 0x26, 0x01, 0x42, 0x10, 0x30, 0x21, 0x2e, 0x59, 0xf0, 0x98, 0x2e, 0x3a, 0x00, 0x01, 0x50,
    0x03, 0x52, 0x98, 0x2e, 0x7f, 0x01, 0x01, 0x50, 0x05, 0x84, 0x13, 0x30, 0x05, 0x50, 0x64, 0x30, 0x07, 0x52, 0x93,
    0x42, 0x84, 0x42, 0x98, 0x2e, 0x7f, 0x01, 0x05, 0x50, 0x06, 0x80, 0x71, 0x30, 0x01, 0x42, 0x00, 0x2e, 0x00, 0x2e,
    0xd0, 0x2e, 0x98, 0x2e, 0xd6, 0x00, 0x01, 0x2e, 0x36, 0x00, 0x00, 0xb2, 0x0d, 0x2f, 0x00, 0x30, 0x21, 0x2e, 0x36,
    0x00, 0x09, 0x50, 0x98, 0x2e, 0x18, 0x01, 0x09, 0x50, 0x01, 0x52, 0x98, 0x2e, 0x90, 0x01, 0x09, 0x50, 0x05, 0x52,
    0x98, 0x2e, 0x90, 0x01, 0x98, 0x2e, 0x3a, 0x00, 0xe6, 0x2d, 0x07, 0x2e, 0x00, 0xf0, 0x03, 0x2e, 0x00, 0xf0, 0x21,
    0x50, 0x9c, 0xbe, 0x02, 0x40, 0x1d, 0x52, 0xf4, 0x33, 0xdc, 0xba, 0xd9, 0x0f, 0x94, 0x08, 0x06, 0x2f, 0x49, 0xaf,
    0x04, 0x2f, 0x51, 0x0a, 0x02, 0x34, 0x47, 0xa3, 0x8a, 0x0a, 0x91, 0x22, 0x3c, 0x80, 0x25, 0x2e, 0x59, 0xf0, 0x01,
    0x40, 0x01, 0x42, 0xb8, 0x2e, 0x1a, 0x24, 0x26, 0x00, 0x80, 0x2e, 0x58, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e,
    0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x46,
    0x00, 0x40, 0x00, 0x4f, 0x00, 0x42, 0x00, 0x37, 0x00, 0xaf, 0x00, 0xff, 0x00, 0xec, 0x00, 0xff, 0xb7, 0x00, 0x02,
    0x00, 0xb0, 0x05, 0x80, 0xc9, 0xf0, 0x88, 0x00, 0x80, 0x00, 0x5e, 0xf0, 0x59, 0xf0, 0x89, 0xf0, 0x3a, 0x00, 0x80,
    0x2e, 0x00, 0xae, 0x44, 0x47, 0xfd, 0x2d, 0x00, 0x0c, 0x60, 0x50, 0x03, 0x2e, 0x45, 0x00, 0xe0, 0x7f, 0xf1, 0x7f,
    0xdb, 0x7f, 0x30, 0x30, 0x1b, 0x54, 0x0a, 0x1a, 0x28, 0x2f, 0x1a, 0x25, 0x7a, 0x82, 0x00, 0x30, 0x43, 0x30, 0x32,
    0x30, 0x05, 0x30, 0x04, 0x30, 0xf6, 0x6f, 0xf2, 0x09, 0xfc, 0x13, 0xc2, 0xab, 0xb3, 0x09, 0xef, 0x23, 0x80, 0xb3,
    0xe6, 0x6f, 0xb7, 0x01, 0x00, 0x2e, 0x8b, 0x41, 0x4b, 0x42, 0x03, 0x2f, 0x46, 0x40, 0x86, 0x17, 0x81, 0x8d, 0x46,
    0x42, 0x41, 0x8b, 0x23, 0xbd, 0xb3, 0xbd, 0x03, 0x89, 0x41, 0x82, 0x07, 0x0c, 0x43, 0xa3, 0xe6, 0x2f, 0xe1, 0x6f,
    0xa2, 0x6f, 0x52, 0x42, 0x00, 0x2e, 0xb2, 0x6f, 0x52, 0x42, 0x00, 0x2e, 0xc2, 0x6f, 0x42, 0x42, 0x03, 0xb2, 0x03,
    0x2e, 0x59, 0xf0, 0xf3, 0x3d, 0x02, 0x32, 0x0b, 0x08, 0x8a, 0x0a, 0xdb, 0x6f, 0x02, 0x22, 0xa0, 0x5f, 0x21, 0x2e,
    0x59, 0xf0, 0xb8, 0x2e, 0x60, 0x50, 0xc3, 0x7f, 0xd4, 0x7f, 0xe7, 0x7f, 0xf6, 0x7f, 0xb2, 0x7f, 0xa5, 0x7f, 0x36,
    0x30, 0x07, 0x2e, 0x01, 0xf0, 0xbe, 0xbd, 0xbe, 0xbb, 0x23, 0x58, 0x77, 0x05, 0x09, 0x56, 0x25, 0x54, 0x27, 0x41,
    0x06, 0x41, 0xf8, 0xbf, 0xbe, 0x0b, 0xb5, 0x11, 0xd6, 0x42, 0x03, 0x89, 0x5a, 0x0e, 0xf6, 0x2f, 0x12, 0x30, 0x25,
    0x2e, 0x36, 0x00, 0x02, 0x31, 0x25, 0x2e, 0xb8, 0xf0, 0xd4, 0x6f, 0xc3, 0x6f, 0xe7, 0x6f, 0xb2, 0x6f, 0xa5, 0x6f,
    0xf6, 0x6f, 0xa0, 0x5f, 0xc8, 0x2e, 0x09, 0x86, 0x02, 0x30, 0x12, 0x42, 0x43, 0x0e, 0xfc, 0x2f, 0x37, 0x80, 0x13,
    0x30, 0x13, 0x42, 0x12, 0x42, 0x12, 0x42, 0x12, 0x42, 0x02, 0x42, 0x03, 0x80, 0x41, 0x84, 0x11, 0x42, 0x02, 0x42,
    0xb8, 0x2e, 0x46, 0x84, 0x80, 0x50, 0xa3, 0x40, 0x83, 0x88, 0x82, 0x40, 0x04, 0x41, 0xc3, 0x7f, 0x42, 0x8a, 0x06,
    0x41, 0x6d, 0xbb, 0xf6, 0x7f, 0x80, 0xb3, 0xd5, 0x7f, 0xe0, 0x7f, 0x59, 0x2f, 0x31, 0x25, 0x55, 0x40, 0x41, 0x91,
    0xb1, 0x7f, 0x0f, 0x2f, 0x01, 0x30, 0xc1, 0x42, 0x00, 0x2e, 0xd2, 0x6f, 0x13, 0x40, 0x93, 0x42, 0x00, 0x2e, 0x13,
    0x40, 0x93, 0x42, 0x00, 0x2e, 0x00, 0x40, 0x80, 0x42, 0xbd, 0x80, 0xc0, 0x2e, 0x01, 0x42, 0x80, 0x5f, 0xc7, 0x86,
    0x01, 0x30, 0xc5, 0x40, 0xfb, 0x86, 0x45, 0x41, 0x04, 0x41, 0x43, 0xbe, 0xd5, 0xbe, 0x43, 0xba, 0xd5, 0xba, 0x84,
    0x7f, 0x95, 0x7f, 0xa1, 0x7f, 0x14, 0x30, 0x61, 0x15, 0xf5, 0x09, 0x15, 0x40, 0xc0, 0xb3, 0x0b, 0x2f, 0xc6, 0x40,
    0xae, 0x05, 0x07, 0x30, 0xfe, 0x05, 0x80, 0xa9, 0xb7, 0x23, 0x97, 0x6f, 0x77, 0x0f, 0xa6, 0x6f, 0xe6, 0x23, 0xf6,
    0x6f, 0xa7, 0x7f, 0x80, 0x90, 0x00, 0x2f, 0xc5, 0x42, 0x41, 0x82, 0xc1, 0x86, 0x43, 0xa2, 0xe7, 0x2f, 0xa1, 0x6f,
    0xb0, 0x6f, 0x0a, 0x1a, 0x02, 0x2f, 0x01, 0x30, 0x1b, 0x2c, 0x01, 0x42, 0x01, 0x40, 0x4c, 0x28, 0x82, 0x6f, 0x01,
    0x42, 0x4a, 0x0e, 0x13, 0x2f, 0xc0, 0x6f, 0x00, 0xb2, 0x03, 0x2f, 0x3f, 0x80, 0x20, 0x14, 0x21, 0x2e, 0x5e, 0xf0,
    0xe1, 0x6f, 0xd0, 0x6f, 0x52, 0x40, 0x12, 0x42, 0x00, 0x2e, 0x52, 0x40, 0x12, 0x42, 0x00, 0x2e, 0x41, 0x40, 0x03,
    0x2c, 0x01, 0x42, 0x10, 0x30, 0x40, 0x42, 0x80, 0x5f, 0xb8, 0x2e, 0x80, 0x2e, 0x18, 0x00, 0xfd, 0x2d, 0x30, 0x50,
    0x2a, 0x25, 0xbd, 0x84, 0xfb, 0x7f, 0x8b, 0x31, 0x27, 0x56, 0x83, 0x42, 0xeb, 0x7f, 0x06, 0x30, 0x14, 0x30, 0x05,
    0x30, 0x0d, 0x2c, 0x13, 0x56, 0x43, 0x1a, 0x02, 0x2f, 0x4e, 0x04, 0x06, 0x30, 0x15, 0x50, 0xec, 0x09, 0xd7, 0x01,
    0x41, 0x8b, 0xcb, 0x41, 0xc6, 0x01, 0x81, 0x8d, 0xcb, 0x43, 0x31, 0x0e, 0xf1, 0x2f, 0xfb, 0x6f, 0xd0, 0x5f, 0xb8,
    0x2e, 0x10, 0x50, 0x01, 0x2e, 0x35, 0x00, 0x00, 0xb2, 0xfb, 0x7f, 0x19, 0x2f, 0x29, 0x56, 0x2f, 0x52, 0x13, 0x54,
    0xc3, 0x00, 0x48, 0x04, 0xc2, 0x0f, 0x18, 0x22, 0x41, 0xb2, 0x0e, 0x2f, 0x12, 0x30, 0x8a, 0x08, 0x80, 0xb2, 0x06,
    0x2f, 0x7f, 0x82, 0x98, 0x2e, 0x00, 0xb0, 0x2d, 0x52, 0x23, 0x2e, 0xff, 0xb9, 0x06, 0x2d, 0xfb, 0x6f, 0xf0, 0x5f,
    0x80, 0x2e, 0x00, 0xb0, 0x2b, 0x52, 0x01, 0x42, 0x00, 0x2e, 0xfb, 0x6f, 0xf0, 0x5f, 0xb8, 0x2e, 0x10, 0x24, 0x58,
    0x02, 0x11, 0x24, 0x00, 0x0c, 0x12, 0x24, 0x80, 0x2e, 0x13, 0x24, 0x18, 0x00, 0x12, 0x42, 0x13, 0x42, 0x41, 0x1a,
    0xfb, 0x2f, 0x10, 0x24, 0x50, 0x39, 0x11, 0x24, 0x21, 0x2e, 0x21, 0x2e, 0x10, 0x00, 0x23, 0x2e, 0x11, 0x00, 0x80,
    0x2e, 0x10, 0x00
};

#define BMA_I2C_ADDR 0x18

void i2c_write(uint8_t reg, uint8_t value) {
    Wire.beginTransmission(BMA_I2C_ADDR);
    Wire.write(reg);
    Wire.write(value);
    Wire.endTransmission();
}

uint8_t i2c_read(uint8_t reg) {
    Wire.beginTransmission(BMA_I2C_ADDR);
    Wire.write(reg);
    Wire.endTransmission();
    Wire.requestFrom(BMA_I2C_ADDR, 1);
    return Wire.read();
}

void setup(void) {
    // interrupt pin 1 of BMA456 wired to pin 4
    pinMode(4, INPUT);
    Wire.begin();
    Serial.begin(115200);
    Serial.println("BMA456 movement monitor");
    // soft reset
    i2c_write(0x7E, 0xB6);
    delay(140);
    // read chip ID
    if (i2c_read(0x00) != 0x16) return;
    // disable advanced power save
    i2c_write(0x7c, 0x00);
    delay(1);
    // start initialization
    i2c_write(0x59, 0x00);
    delay(1);
    // send configuration
    for (uint16_t offset = 0; offset<sizeof(bma456_an_config_file)/8; offset++) {
      i2c_write(0x5b, (offset<<2) & 0xf);
      delay(1);
      i2c_write(0x5c, offset>>2);
      delay(1);
      Wire.beginTransmission(BMA_I2C_ADDR);
      Wire.write(0x5e);
      Wire.write(&bma456_an_config_file[offset<<3], 8);
      Wire.endTransmission();
      delay(1);
    }
    // end initialization
    i2c_write(0x59, 0x01);
    delay(140);

    // check that chip is ready
    if (i2c_read(0x2a) != 0x01) return;

    // configure interrupt pins behaviour;
    // level trigger / active high / push-pull / output enabled / input disabled
    i2c_write(0x53, 0x0a);
    // set up interrupts as latch
    i2c_write(0x55, 0x01);
    // use INT1 for any motion/no motion
    i2c_write(0x56, 0x20);
    // route 'data ready' to INT2
    i2c_write(0x58, 0x40);
    // set any motion trigger
    Wire.beginTransmission(BMA_I2C_ADDR);
    Wire.write(0x5e);
    Wire.write(0xf0);
    Wire.write(0x00);
    Wire.write(0x05);
    Wire.write(0xE0);
    Wire.endTransmission();
    // set filter settings;
    // odr_50 / norm_avg4 / continuous
    i2c_write(0x40, 0xa7);
    // set accelerometer range to +/-16g
    i2c_write(0x41, 0x03);
    // enable accelerometer
    i2c_write(0x7d, 0x04);
    // set advanced power save
    i2c_write(0x7c, 0x01);

    Serial.println("Shake the board for any-motion interrupt");
}

uint8_t data_rdy = 0;
uint8_t mvt_trig = 0;

void loop(void) {
  /* Read interrupt pin state */
  if (digitalRead(4)) {
    /* Read interrupt status registers */
    Wire.beginTransmission(BMA_I2C_ADDR);
    Wire.write(0x1c);
    Wire.endTransmission();
    Wire.requestFrom(BMA_I2C_ADDR, 2);
    mvt_trig = Wire.read();
    data_rdy = Wire.read();
    // test that interrupt flag match interrupt pin
    if (mvt_trig & 0x20) {
      Serial.println("Movement occurred");
      // data should be ready
      if (data_rdy) {
        /* Reset data ready flag */
        i2c_read(0x03);
        /* Read acceleration values */
        Wire.beginTransmission(BMA_I2C_ADDR);
        Wire.write(0x12);
        Wire.endTransmission();
        Wire.requestFrom(BMA_I2C_ADDR, 6);
        Serial.print("Acceleration: X=");
        Serial.print(Wire.read() + (Wire.read() << 8));
        Serial.print(", Y=");
        Serial.print(Wire.read() + (Wire.read() << 8));
        Serial.print(", Z=");
        Serial.println(Wire.read() + (Wire.read() << 8));
      }
    }
  }
}