File content as of revision 46:fd5a62296b12:

#include "Accelerometer.h"
#define DEBUG "BMX055-Acc"
#include "Logger.h"

#include "Vector3.h"

Accelerometer::Accelerometer(I2C &i2c) : I2CPeripheral(i2c, 0x18 << 1 /* address */), int1(p2), int2(p0)
{
    if (powerOn()) {
        INFO("Bosch Sensortec BMX055-Accel found");
        powerOff();
    } else {
        WARN("Bosch Sensortec BMX055-Accel not found");
    }
}

bool Accelerometer::powerOn()
{
    write_reg(0x14, 0xB6); // reset
    wait_ms(2); // page 11 says only 1.3ms, nothing for startup time, so assuming 2ms
    write_reg(0x11, 0); // set power normal mode
    write_reg(0x0f, 12); // set range = 16G
    write_reg(0x10, 12); // set bandwidth = 125 Hz (earlier comment was incorrect)
    return read_reg(0x00) == 0xfa; // verify chip ID
}

void Accelerometer::powerOff()
{
    write_reg(0x11, 1); // deep suspend mode
    LOG("deep sleep");
}

void Accelerometer::start()
{
    // nothing to do right now
}

void Accelerometer::stop()
{
    // nothing to do right now
}

Vector3 Accelerometer::read()
{
    // Check comments in the read() function of the Gyroscope for more info why we read bytes one by one.
    uint8_t buffer[6];
    /*
    for (size_t i = 0; i < 6; i++)
        buffer[i] = read_reg(0x02 + i);
    */

    read_reg(0x02, buffer, sizeof buffer);

    const int16_t x = *(reinterpret_cast<const int16_t*>(buffer + 0)) / 16;
    const int16_t y = *(reinterpret_cast<const int16_t*>(buffer + 2)) / 16;
    const int16_t z = *(reinterpret_cast<const int16_t*>(buffer + 4)) / 16;

    const float accel_resolution = 0.9765625;

    return Vector3(x, y, z);// * accel_resolution;
}