diff --git a/workspace/TS100/Core/Inc/LIS2DH12.hpp b/workspace/TS100/Core/Inc/LIS2DH12.hpp
index 5a30288f..ed9d844a 100644
--- a/workspace/TS100/Core/Inc/LIS2DH12.hpp
+++ b/workspace/TS100/Core/Inc/LIS2DH12.hpp
@@ -1,42 +1,46 @@
-/*
- * LIS2DH12.hpp
- *
- *  Created on: 27Feb.,2018
- *      Author: Ralim
- */
-
-#ifndef LIS2DH12_HPP_
-#define LIS2DH12_HPP_
-#include "stm32f1xx_hal.h"
-#include "FRToSI2C.hpp"
-#include "LIS2DH12_defines.hpp"
-#include "hardware.h"
-
-class LIS2DH12 {
-public:
-	static void initalize();
-	//1 = rh, 2,=lh, 8=flat
-	static Orientation getOrientation() {
-#ifdef MODEL_TS80
-		uint8_t val = (FRToSI2C::I2C_RegisterRead(LIS2DH_I2C_ADDRESS,
-		LIS_INT2_SRC) >> 2);
-		if (val == 8)
-			val = 3;
-		else if (val == 1)
-			val = 1;
-		else if (val == 2)
-			val = 0;
-		else
-			val = 3;
-		return static_cast<Orientation>(val);
-#endif
-#ifdef MODEL_TS100
-		return static_cast<Orientation>((FRToSI2C::I2C_RegisterRead(LIS2DH_I2C_ADDRESS,LIS_INT2_SRC) >> 2) - 1);
-#endif
-	}
-	static void getAxisReadings(int16_t& x, int16_t& y, int16_t& z);
-
-private:
-};
-
-#endif /* LIS2DH12_HPP_ */
+/*
+ * LIS2DH12.hpp
+ *
+ *  Created on: 27Feb.,2018
+ *      Author: Ralim
+ */
+
+#ifndef LIS2DH12_HPP_
+#define LIS2DH12_HPP_
+#include "stm32f1xx_hal.h"
+#include "FRToSI2C.hpp"
+#include "LIS2DH12_defines.hpp"
+#include "hardware.h"
+
+#ifdef MODEL_TS80
+#define LIS_ORI_FLIP
+#endif
+class LIS2DH12 {
+public:
+	static bool detect();
+	static void initalize();
+	//1 = rh, 2,=lh, 8=flat
+	static Orientation getOrientation() {
+#ifdef LIS_ORI_FLIP
+		uint8_t val = (FRToSI2C::I2C_RegisterRead(LIS2DH_I2C_ADDRESS,
+		LIS_INT2_SRC) >> 2);
+		if (val == 8)
+			val = 3;
+		else if (val == 1)
+			val = 1;
+		else if (val == 2)
+			val = 0;
+		else
+			val = 3;
+		return static_cast<Orientation>(val);
+#endif
+#ifdef MODEL_TS100
+		return static_cast<Orientation>((FRToSI2C::I2C_RegisterRead(LIS2DH_I2C_ADDRESS,LIS_INT2_SRC) >> 2) - 1);
+#endif
+	}
+	static void getAxisReadings(int16_t& x, int16_t& y, int16_t& z);
+
+private:
+};
+
+#endif /* LIS2DH12_HPP_ */
diff --git a/workspace/TS100/Core/Inc/MMA8652FC.hpp b/workspace/TS100/Core/Inc/MMA8652FC.hpp
index b6d2938e..7a3ec037 100644
--- a/workspace/TS100/Core/Inc/MMA8652FC.hpp
+++ b/workspace/TS100/Core/Inc/MMA8652FC.hpp
@@ -1,27 +1,28 @@
-/*
- * MMA8652FC.h
- *
- *  Created on: 31Aug.,2017
- *      Author: Ben V. Brown
- */
-
-#ifndef MMA8652FC_HPP_
-#define MMA8652FC_HPP_
-#include "stm32f1xx_hal.h"
-#include "MMA8652FC_defines.h"
-#include "FRToSI2C.hpp"
-#include "hardware.h"
-
-class MMA8652FC {
-
-public:
-
-
-	static void initalize();		// Initalize the system
-	static Orientation getOrientation();// Reads the I2C register and returns the orientation (true == left)
-	static void getAxisReadings(int16_t& x, int16_t& y, int16_t& z);
-
-private:
-};
-
-#endif /* MMA8652FC_HPP_ */
+/*
+ * MMA8652FC.h
+ *
+ *  Created on: 31Aug.,2017
+ *      Author: Ben V. Brown
+ */
+
+#ifndef MMA8652FC_HPP_
+#define MMA8652FC_HPP_
+#include "stm32f1xx_hal.h"
+#include "MMA8652FC_defines.h"
+#include "FRToSI2C.hpp"
+#include "hardware.h"
+
+class MMA8652FC {
+
+public:
+	//Returns true if this accelerometer is detected
+	static bool detect();
+	//Init any internal state
+	static void initalize();
+	static Orientation getOrientation(); // Reads the I2C register and returns the orientation (true == left)
+	static void getAxisReadings(int16_t &x, int16_t &y, int16_t &z);
+
+private:
+};
+
+#endif /* MMA8652FC_HPP_ */
diff --git a/workspace/TS100/Core/Src/LIS2DH12.cpp b/workspace/TS100/Core/Src/LIS2DH12.cpp
index b1d25703..f4fcbbfe 100644
--- a/workspace/TS100/Core/Src/LIS2DH12.cpp
+++ b/workspace/TS100/Core/Src/LIS2DH12.cpp
@@ -1,50 +1,60 @@
-/*
- * LIS2DH12.cpp
- *
- *  Created on: 27Feb.,2018
- *      Author: Ralim
- */
-
-#include <array>
-
-#include "LIS2DH12.hpp"
-#include "cmsis_os.h"
-
-typedef struct {
-        const uint8_t reg;
-        const uint8_t value;
-} LIS_REG;
-
-static const LIS_REG i2c_registers[] = {
-        {LIS_CTRL_REG1, 0x17}, // 25Hz
-        {LIS_CTRL_REG2, 0b00001000}, // Highpass filter off
-        {LIS_CTRL_REG3, 0b01100000}, // Setup interrupt pins
-        {LIS_CTRL_REG4, 0b00001000}, // Block update mode off, HR on
-        {LIS_CTRL_REG5, 0b00000010},
-        {LIS_CTRL_REG6, 0b01100010},
-        //Basically setup the unit to run, and enable 4D orientation detection
-        {LIS_INT2_CFG, 0b01111110}, //setup for movement detection
-        {LIS_INT2_THS, 0x28},
-        {LIS_INT2_DURATION, 64},
-        {LIS_INT1_CFG, 0b01111110},
-        {LIS_INT1_THS, 0x28},
-        {LIS_INT1_DURATION, 64}
-};
-
-void LIS2DH12::initalize() {
-    for (size_t index = 0; index < (sizeof(i2c_registers) / sizeof(i2c_registers[0])); index++) {
-    	FRToSI2C::I2C_RegisterWrite(LIS2DH_I2C_ADDRESS,i2c_registers[index].reg, i2c_registers[index].value);
-    }
-}
-
-void LIS2DH12::getAxisReadings(int16_t& x, int16_t& y, int16_t& z) {
-    std::array<int16_t, 3> sensorData;
-
-    FRToSI2C::Mem_Read(LIS2DH_I2C_ADDRESS, 0xA8, I2C_MEMADD_SIZE_8BIT,
-        reinterpret_cast<uint8_t*>(sensorData.begin()),
-        sensorData.size() * sizeof(int16_t));
-
-    x = sensorData[0];
-    y = sensorData[1];
-    z = sensorData[2];
-}
+/*
+ * LIS2DH12.cpp
+ *
+ *  Created on: 27Feb.,2018
+ *      Author: Ralim
+ */
+
+#include <array>
+
+#include "LIS2DH12.hpp"
+#include "cmsis_os.h"
+
+typedef struct {
+	const uint8_t reg;
+	const uint8_t value;
+} LIS_REG;
+
+static const LIS_REG i2c_registers[] =
+		{ { LIS_CTRL_REG1, 0x17 }, // 25Hz
+				{ LIS_CTRL_REG2, 0b00001000 }, // Highpass filter off
+				{ LIS_CTRL_REG3, 0b01100000 }, // Setup interrupt pins
+				{ LIS_CTRL_REG4, 0b00001000 }, // Block update mode off, HR on
+				{ LIS_CTRL_REG5, 0b00000010 }, { LIS_CTRL_REG6, 0b01100010 },
+				//Basically setup the unit to run, and enable 4D orientation detection
+				{ LIS_INT2_CFG, 0b01111110 }, //setup for movement detection
+				{ LIS_INT2_THS, 0x28 }, { LIS_INT2_DURATION, 64 }, {
+						LIS_INT1_CFG, 0b01111110 }, { LIS_INT1_THS, 0x28 }, {
+						LIS_INT1_DURATION, 64 } };
+
+void LIS2DH12::initalize() {
+	for (size_t index = 0;
+			index < (sizeof(i2c_registers) / sizeof(i2c_registers[0]));
+			index++) {
+		FRToSI2C::I2C_RegisterWrite(LIS2DH_I2C_ADDRESS,
+				i2c_registers[index].reg, i2c_registers[index].value);
+	}
+}
+
+void LIS2DH12::getAxisReadings(int16_t &x, int16_t &y, int16_t &z) {
+	std::array<int16_t, 3> sensorData;
+
+	FRToSI2C::Mem_Read(LIS2DH_I2C_ADDRESS, 0xA8, I2C_MEMADD_SIZE_8BIT,
+			reinterpret_cast<uint8_t*>(sensorData.begin()),
+			sensorData.size() * sizeof(int16_t));
+
+	x = sensorData[0];
+	y = sensorData[1];
+	z = sensorData[2];
+}
+
+bool LIS2DH12::detect() {
+	uint8_t buffer[1];
+	if (HAL_I2C_Mem_Read(&hi2c1, 25 << 1, 0x0F, I2C_MEMADD_SIZE_8BIT, buffer, 1,
+			1000) == HAL_OK) {
+		//ACK'd
+		return true;
+	}
+	//NAK'd
+	return false;
+}
diff --git a/workspace/TS100/Core/Src/MMA8652FC.cpp b/workspace/TS100/Core/Src/MMA8652FC.cpp
index ebe10568..bec2fcef 100644
--- a/workspace/TS100/Core/Src/MMA8652FC.cpp
+++ b/workspace/TS100/Core/Src/MMA8652FC.cpp
@@ -1,78 +1,95 @@
-/*
- * MMA8652FC.cpp
- *
- *  Created on: 31Aug.,2017
- *      Author: Ben V. Brown
- */
-
-#include <array>
-
-#include "MMA8652FC.hpp"
-#include "cmsis_os.h"
-
-typedef struct {
-	const uint8_t reg;
-	const uint8_t val;
-} MMA_REG;
-
-static const MMA_REG i2c_registers[] = { { CTRL_REG2, 0 },    //Normal mode
-		{ CTRL_REG2, 0x40 },      // Reset all registers to POR values
-		{ FF_MT_CFG_REG, 0x78 }, // Enable motion detection for X, Y, Z axis, latch disabled
-		{ PL_CFG_REG, 0x40 },     //Enable the orientation detection
-		{ PL_COUNT_REG, 200 },    //200 count debounce
-		{ PL_BF_ZCOMP_REG, 0b01000111 }, //Set the threshold to 42 degrees
-		{ P_L_THS_REG, 0b10011100 },    //Up the trip angles
-		{ CTRL_REG4, 0x01 | (1 << 4) }, // Enable dataready interrupt & orientation interrupt
-		{ CTRL_REG5, 0x01 }, // Route data ready interrupts to INT1 ->PB5 ->EXTI5, leaving orientation routed to INT2
-		{ CTRL_REG2, 0x12 },   //Set maximum resolution oversampling
-		{ XYZ_DATA_CFG_REG, (1 << 4) }, //select high pass filtered data
-		{ HP_FILTER_CUTOFF_REG, 0x03 }, //select high pass filtered data
-		{ CTRL_REG1, 0x19 } // ODR=12 Hz, Active mode
-};
-
-
-void MMA8652FC::initalize() {
-	size_t index = 0;
-
-	//send all the init commands to the unit
-
-	FRToSI2C::I2C_RegisterWrite(MMA8652FC_I2C_ADDRESS,i2c_registers[index].reg, i2c_registers[index].val);
-	index++;
-	FRToSI2C::I2C_RegisterWrite(MMA8652FC_I2C_ADDRESS,i2c_registers[index].reg, i2c_registers[index].val);
-	index++;
-
-	HAL_Delay(2);		// ~1ms delay
-
-	while (index < (sizeof(i2c_registers) / sizeof(i2c_registers[0]))) {
-		FRToSI2C::I2C_RegisterWrite(MMA8652FC_I2C_ADDRESS,i2c_registers[index].reg, i2c_registers[index].val);
-		index++;
-	}
-}
-
-Orientation MMA8652FC::getOrientation() {
-	//First read the PL_STATUS register
-	uint8_t plStatus = FRToSI2C::I2C_RegisterRead(MMA8652FC_I2C_ADDRESS,PL_STATUS_REG);
-	if ((plStatus & 0b10000000) == 0b10000000) {
-		plStatus >>= 1;    //We don't need the up/down bit
-		plStatus &= 0x03;    //mask to the two lower bits
-
-		//0 == left handed
-		//1 == right handed
-
-		return static_cast<Orientation>(plStatus);
-	}
-
-	return ORIENTATION_FLAT;
-}
-
-void MMA8652FC::getAxisReadings(int16_t& x, int16_t& y, int16_t& z) {
-	std::array<int16_t, 3> sensorData;
-
-	FRToSI2C::Mem_Read(MMA8652FC_I2C_ADDRESS, OUT_X_MSB_REG, I2C_MEMADD_SIZE_8BIT,
-		reinterpret_cast<uint8_t*>(sensorData.begin()),
-		sensorData.size() * sizeof(int16_t));
-
-	x = static_cast<int16_t>(__builtin_bswap16(*reinterpret_cast<uint16_t*>(&sensorData[0])));
-	y = static_cast<int16_t>(__builtin_bswap16(*reinterpret_cast<uint16_t*>(&sensorData[1])));
-	z = static_cast<int16_t>(__builtin_bswap16(*reinterpret_cast<uint16_t*>(&sensorData[2])));
-}
+/*
+ * MMA8652FC.cpp
+ *
+ *  Created on: 31Aug.,2017
+ *      Author: Ben V. Brown
+ */
+
+#include <array>
+
+#include "MMA8652FC.hpp"
+#include "cmsis_os.h"
+
+typedef struct {
+	const uint8_t reg;
+	const uint8_t val;
+} MMA_REG;
+
+static const MMA_REG i2c_registers[] = { { CTRL_REG2, 0 },    //Normal mode
+		{ CTRL_REG2, 0x40 },      // Reset all registers to POR values
+		{ FF_MT_CFG_REG, 0x78 }, // Enable motion detection for X, Y, Z axis, latch disabled
+		{ PL_CFG_REG, 0x40 },     //Enable the orientation detection
+		{ PL_COUNT_REG, 200 },    //200 count debounce
+		{ PL_BF_ZCOMP_REG, 0b01000111 }, //Set the threshold to 42 degrees
+		{ P_L_THS_REG, 0b10011100 },    //Up the trip angles
+		{ CTRL_REG4, 0x01 | (1 << 4) }, // Enable dataready interrupt & orientation interrupt
+		{ CTRL_REG5, 0x01 }, // Route data ready interrupts to INT1 ->PB5 ->EXTI5, leaving orientation routed to INT2
+		{ CTRL_REG2, 0x12 },   //Set maximum resolution oversampling
+		{ XYZ_DATA_CFG_REG, (1 << 4) }, //select high pass filtered data
+		{ HP_FILTER_CUTOFF_REG, 0x03 }, //select high pass filtered data
+		{ CTRL_REG1, 0x19 } // ODR=12 Hz, Active mode
+};
+
+void MMA8652FC::initalize() {
+	size_t index = 0;
+
+	//send all the init commands to the unit
+
+	FRToSI2C::I2C_RegisterWrite(MMA8652FC_I2C_ADDRESS, i2c_registers[index].reg,
+			i2c_registers[index].val);
+	index++;
+	FRToSI2C::I2C_RegisterWrite(MMA8652FC_I2C_ADDRESS, i2c_registers[index].reg,
+			i2c_registers[index].val);
+	index++;
+
+	HAL_Delay(2);		// ~1ms delay
+
+	while (index < (sizeof(i2c_registers) / sizeof(i2c_registers[0]))) {
+		FRToSI2C::I2C_RegisterWrite(MMA8652FC_I2C_ADDRESS,
+				i2c_registers[index].reg, i2c_registers[index].val);
+		index++;
+	}
+}
+
+Orientation MMA8652FC::getOrientation() {
+	//First read the PL_STATUS register
+	uint8_t plStatus = FRToSI2C::I2C_RegisterRead(MMA8652FC_I2C_ADDRESS,
+	PL_STATUS_REG);
+	if ((plStatus & 0b10000000) == 0b10000000) {
+		plStatus >>= 1;    //We don't need the up/down bit
+		plStatus &= 0x03;    //mask to the two lower bits
+
+		//0 == left handed
+		//1 == right handed
+
+		return static_cast<Orientation>(plStatus);
+	}
+
+	return ORIENTATION_FLAT;
+}
+
+void MMA8652FC::getAxisReadings(int16_t &x, int16_t &y, int16_t &z) {
+	std::array<int16_t, 3> sensorData;
+
+	FRToSI2C::Mem_Read(MMA8652FC_I2C_ADDRESS, OUT_X_MSB_REG,
+	I2C_MEMADD_SIZE_8BIT, reinterpret_cast<uint8_t*>(sensorData.begin()),
+			sensorData.size() * sizeof(int16_t));
+
+	x = static_cast<int16_t>(__builtin_bswap16(
+			*reinterpret_cast<uint16_t*>(&sensorData[0])));
+	y = static_cast<int16_t>(__builtin_bswap16(
+			*reinterpret_cast<uint16_t*>(&sensorData[1])));
+	z = static_cast<int16_t>(__builtin_bswap16(
+			*reinterpret_cast<uint16_t*>(&sensorData[2])));
+}
+
+bool MMA8652FC::detect() {
+	uint8_t buffer[1];
+	if (HAL_I2C_Mem_Read(&hi2c1, 29 << 1, 0x0F, I2C_MEMADD_SIZE_8BIT, buffer, 1,
+			1000) == HAL_OK) {
+		//The device ACK'd
+		return true;
+	}
+	//NAK'd
+	return false;
+}
diff --git a/workspace/TS100/Core/Src/main.cpp b/workspace/TS100/Core/Src/main.cpp
index ad952611..d845c7ea 100644
--- a/workspace/TS100/Core/Src/main.cpp
+++ b/workspace/TS100/Core/Src/main.cpp
@@ -55,14 +55,11 @@ int main(void) {
 	OLED::initialize();  // start up the LCD
 	OLED::setFont(0);    // default to bigger font
 	// Testing for which accelerometer is mounted
-	uint8_t buffer[1];
-	HAL_IWDG_Refresh(&hiwdg);
-	if (HAL_I2C_Mem_Read(&hi2c1, 29 << 1, 0x0F, I2C_MEMADD_SIZE_8BIT, buffer, 1,
-			1000) == HAL_OK) {
+	resetWatchdog();
+	if (MMA8652FC::detect()) {
 		PCBVersion = 1;
 		MMA8652FC::initalize();  // this sets up the I2C registers
-	} else if (HAL_I2C_Mem_Read(&hi2c1, 25 << 1, 0x0F, I2C_MEMADD_SIZE_8BIT,
-			buffer, 1, 1000) == HAL_OK) {
+	} else if (LIS2DH12::detect()) {
 		PCBVersion = 2;
 		// Setup the ST Accelerometer
 		LIS2DH12::initalize();  // startup the accelerometer