@@ -0,0 +1,29 @@ 
+cmake_minimum_required(VERSION 4.2.2)
+
+# Inlcude the pi pico C/C++ SDK
+include(pico_sdk_import.cmake)
+
+project(hello_world C CXX)
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+
+# Initialize the pi pico C/C++ SDK
+pico_sdk_init()
+
+add_executable(${PROJECT_NAME}
+
+	main.c
+
+)
+
+# Link to pico standard library
+target_link_libraries(${PROJECT_NAME}
+
+	pico_stdlib
+	hardware_spi
+
+)
+
+pico_add_extra_outputs(${PROJECT_NAME})
+
+pico_enable_stdio_usb(${PROJECT_NAME} 1)
+pico_enable_stdio_uart(${PROJECT_NAME} 0)

@@ -0,0 +1,139 @@ 
+
+#include <hardware/structs/io_bank0.h>
+#include <pico/time.h>
+#include <stdint.h>
+#include <stdio.h>
+#include "pico/stdlib.h"
+#include "hardware/gpio.h"
+#include "hardware/spi.h"
+
+#define SPI_PORT spi1
+
+#define MOSI 11
+#define MISO 8
+#define CS 9
+#define CLK 10
+
+#define READ_BIT 0x80
+#define WRITE_BIT 0x00
+#define MB_BIT 0x40
+
+#define DATAX0 0x32
+
+#define POWERCTL 0x2D
+#define MEASURE_BIT 0x08
+
+#define DATA_FORMAT 0x30
+#define ADXL345_RANGE_PM_2G 0x00
+#define ADXL345_RANGE_PM_4G 0x01
+#define ADXL345_RANGE_PM_8G 0x02
+#define ADXL345_RANGE_PM_16G 0x03
+#define ADXL345_LEFT_JUSTIFY 0x04
+#define ADXL345_SCALE_FACTOR 0.0039
+
+struct Config {
+	uint scale;
+	bool full_resolution;
+};
+
+static inline void cs_select() {
+    asm volatile("nop \n nop \n nop");
+    gpio_put(CS, 0);  // Active low
+    asm volatile("nop \n nop \n nop");
+}
+
+static inline void cs_deselect() {
+    asm volatile("nop \n nop \n nop");
+    gpio_put(CS, 1);
+    asm volatile("nop \n nop \n nop");
+}
+
+void read_registers(uint8_t reg_address, uint8_t *buf, uint16_t len) {
+	reg_address = READ_BIT | reg_address;
+
+	cs_select();
+	spi_write_blocking(SPI_PORT, &reg_address, 1);
+	spi_read_blocking(SPI_PORT, 0, buf, len);
+	cs_deselect();
+}
+
+void write_register(uint8_t reg_address, uint8_t byte) {
+	uint8_t buf[2] = {WRITE_BIT | reg_address,byte};
+
+	cs_select();
+	spi_write_blocking(SPI_PORT, buf, 2);
+	cs_deselect();
+}
+
+void read_acceleration(uint16_t accel[3]) {
+	uint8_t reg_address = MB_BIT | DATAX0;
+	uint8_t buffer[6];
+
+	read_registers(reg_address, buffer, 6);
+
+  for (int i = 0; i < 3; i++) {
+      accel[i] = (uint16_t)(buffer[(i * 2) + 1] << 8) + buffer[i * 2];
+  }
+}
+
+void acceleration_in_g(uint16_t accel[3], float accel_unit_g[3], struct Config conf) {
+	uint bit_mask = 0x3FF;
+	uint msb = 0x200;
+
+	if (conf.full_resolution == true) {
+		switch (conf.scale) {
+			case 16: 
+				bit_mask += 0x1C00;
+				msb <<= 3;
+			case 8: 
+				bit_mask += 0xC00;
+				msb <<= 2;
+			case 4:
+				bit_mask += 0x400;
+				msb <<= 1;
+		}
+	}
+
+	for (int i = 0; i < 3; i++) {
+		if ( (accel[i] & msb) != 0 ) {
+			accel_unit_g[i] = (float)( (accel[i] ^ 0xffff) + 1 ) * ADXL345_SCALE_FACTOR;
+			accel_unit_g[i] *= -1;
+		} else {
+			accel_unit_g[i] = (float)( accel[i] ) * ADXL345_SCALE_FACTOR;
+		}
+	}
+}
+
+int main() {
+    stdio_init_all();
+
+    spi_init(SPI_PORT, 2000*1000);
+		spi_set_format(SPI_PORT, 8, SPI_CPOL_1, SPI_CPHA_1, SPI_MSB_FIRST);
+
+		gpio_set_function(MOSI, GPIO_FUNC_SPI);
+		gpio_set_function(MISO, GPIO_FUNC_SPI);
+		gpio_set_function(CLK, GPIO_FUNC_SPI);
+
+    gpio_init(CS);
+    gpio_set_dir(CS, GPIO_OUT);
+    gpio_put(CS, 1);
+
+		uint16_t accel[3] = {0x67, 0x67, 0x67};
+		float float_accel[3];
+
+		uint8_t id;
+    read_registers(0x00, &id, 1);
+		write_register(POWERCTL, MEASURE_BIT);
+
+		struct Config config = {.scale = 16, .full_resolution = false};
+		write_register(DATA_FORMAT, ADXL345_RANGE_PM_16G);
+
+    while (true) {
+				read_acceleration(accel);
+				acceleration_in_g(accel, float_accel, config);
+				printf("%f %f %f\n", float_accel[0],float_accel[1],float_accel[2]);
+				//printf("%x %x %x\n\n", accel[0],accel[1],accel[2]);
+        sleep_ms(100);
+    }
+}
+

@@ -0,0 +1,73 @@ 
+# This is a copy of <PICO_SDK_PATH>/external/pico_sdk_import.cmake
+
+# This can be dropped into an external project to help locate this SDK
+# It should be include()ed prior to project()
+
+if (DEFINED ENV{PICO_SDK_PATH} AND (NOT PICO_SDK_PATH))
+    set(PICO_SDK_PATH $ENV{PICO_SDK_PATH})
+    message("Using PICO_SDK_PATH from environment ('${PICO_SDK_PATH}')")
+endif ()
+
+if (DEFINED ENV{PICO_SDK_FETCH_FROM_GIT} AND (NOT PICO_SDK_FETCH_FROM_GIT))
+    set(PICO_SDK_FETCH_FROM_GIT $ENV{PICO_SDK_FETCH_FROM_GIT})
+    message("Using PICO_SDK_FETCH_FROM_GIT from environment ('${PICO_SDK_FETCH_FROM_GIT}')")
+endif ()
+
+if (DEFINED ENV{PICO_SDK_FETCH_FROM_GIT_PATH} AND (NOT PICO_SDK_FETCH_FROM_GIT_PATH))
+    set(PICO_SDK_FETCH_FROM_GIT_PATH $ENV{PICO_SDK_FETCH_FROM_GIT_PATH})
+    message("Using PICO_SDK_FETCH_FROM_GIT_PATH from environment ('${PICO_SDK_FETCH_FROM_GIT_PATH}')")
+endif ()
+
+set(PICO_SDK_PATH "${PICO_SDK_PATH}" CACHE PATH "Path to the Raspberry Pi Pico SDK")
+set(PICO_SDK_FETCH_FROM_GIT "${PICO_SDK_FETCH_FROM_GIT}" CACHE BOOL "Set to ON to fetch copy of SDK from git if not otherwise locatable")
+set(PICO_SDK_FETCH_FROM_GIT_PATH "${PICO_SDK_FETCH_FROM_GIT_PATH}" CACHE FILEPATH "location to download SDK")
+
+if (NOT PICO_SDK_PATH)
+    if (PICO_SDK_FETCH_FROM_GIT)
+        include(FetchContent)
+        set(FETCHCONTENT_BASE_DIR_SAVE ${FETCHCONTENT_BASE_DIR})
+        if (PICO_SDK_FETCH_FROM_GIT_PATH)
+            get_filename_component(FETCHCONTENT_BASE_DIR "${PICO_SDK_FETCH_FROM_GIT_PATH}" REALPATH BASE_DIR "${CMAKE_SOURCE_DIR}")
+        endif ()
+        # GIT_SUBMODULES_RECURSE was added in 3.17
+        if (${CMAKE_VERSION} VERSION_GREATER_EQUAL "3.17.0")
+            FetchContent_Declare(
+                    pico_sdk
+                    GIT_REPOSITORY https://github.com/raspberrypi/pico-sdk
+                    GIT_TAG master
+                    GIT_SUBMODULES_RECURSE FALSE
+            )
+        else ()
+            FetchContent_Declare(
+                    pico_sdk
+                    GIT_REPOSITORY https://github.com/raspberrypi/pico-sdk
+                    GIT_TAG master
+            )
+        endif ()
+
+        if (NOT pico_sdk)
+            message("Downloading Raspberry Pi Pico SDK")
+            FetchContent_Populate(pico_sdk)
+            set(PICO_SDK_PATH ${pico_sdk_SOURCE_DIR})
+        endif ()
+        set(FETCHCONTENT_BASE_DIR ${FETCHCONTENT_BASE_DIR_SAVE})
+    else ()
+        message(FATAL_ERROR
+                "SDK location was not specified. Please set PICO_SDK_PATH or set PICO_SDK_FETCH_FROM_GIT to on to fetch from git."
+                )
+    endif ()
+endif ()
+
+get_filename_component(PICO_SDK_PATH "${PICO_SDK_PATH}" REALPATH BASE_DIR "${CMAKE_BINARY_DIR}")
+if (NOT EXISTS ${PICO_SDK_PATH})
+    message(FATAL_ERROR "Directory '${PICO_SDK_PATH}' not found")
+endif ()
+
+set(PICO_SDK_INIT_CMAKE_FILE ${PICO_SDK_PATH}/pico_sdk_init.cmake)
+if (NOT EXISTS ${PICO_SDK_INIT_CMAKE_FILE})
+    message(FATAL_ERROR "Directory '${PICO_SDK_PATH}' does not appear to contain the Raspberry Pi Pico SDK")
+endif ()
+
+set(PICO_SDK_PATH ${PICO_SDK_PATH} CACHE PATH "Path to the Raspberry Pi Pico SDK" FORCE)
+
+include(${PICO_SDK_INIT_CMAKE_FILE})