diff --git a/workspace/TS100/Core/Drivers/MSA301.cpp b/workspace/TS100/Core/Drivers/MSA301.cpp
index 8b35b628..34f879bc 100644
--- a/workspace/TS100/Core/Drivers/MSA301.cpp
+++ b/workspace/TS100/Core/Drivers/MSA301.cpp
@@ -18,23 +18,32 @@ static const FRToSI2C::I2C_REG i2c_registers[] = { //
 				{ MSA301_REG_POWERMODE, 0b0001001, 1 },    // Normal mode
 				{ MSA301_REG_RESRANGE, 0b00000001, 0 },    // 14bit resolution @ 4G range
 				{ MSA301_REG_ORIENT_HY, 0b01000000, 0 },    // 4*62.5mg hyst, no blocking, symmetrical
-				{ MSA301_REG_ORIENT_HY, 0b01000000, 0 },    // 4*62.5mg hyst, no blocking, symmetrical
+				{ MSA301_REG_INTSET0, 1 << 6, 0 },    // Turn on orientation detection (by enabling its interrupt)
 
 		};
 
 bool MSA301::initalize() {
-	// Enable X/Y/Z
-	// Normal mode
-	// 250Hz filter
-	// 4G range
-	// 14 bit resolution
-
 	return FRToSI2C::writeRegistersBulk(MSA301_I2C_ADDRESS, i2c_registers, sizeof(i2c_registers) / sizeof(i2c_registers[0]));
 }
 
 Orientation MSA301::getOrientation() {
-	//read MSA301_REG_ORIENT_STATUS
+	uint8_t temp = 0;
+	FRToSI2C::Mem_Read(MSA301_I2C_ADDRESS, MSA301_REG_ORIENT_STATUS, &temp, 1);
+	switch (temp) {
+	case 112:
+		return Orientation::ORIENTATION_LEFT_HAND;
+	case 96:
+		return Orientation::ORIENTATION_RIGHT_HAND;
+	}
+	return Orientation::ORIENTATION_FLAT;
 }
 
 void MSA301::getAxisReadings(int16_t &x, int16_t &y, int16_t &z) {
+	uint8_t temp[6];
+	//Bulk read all 6 regs
+	FRToSI2C::Mem_Read(MSA301_I2C_ADDRESS, MSA301_REG_OUT_X_L, temp, 6);
+	x = int16_t(((int16_t) temp[1]) << 8 | temp[0]) >> 2;
+	y = int16_t(((int16_t) temp[3]) << 8 | temp[2]) >> 2;
+	z = int16_t(((int16_t) temp[5]) << 8 | temp[4]) >> 2;
+
 }