refactor: reorganize & add debugging

1 files changed, 137 insertions, 0 deletions

diff --git a/src/sensor/registers.hpp b/src/sensor/registers.hpp
new file mode 100644
index 0000000..c1b19b4
--- /dev/null
+++ b/src/sensor/registers.hpp
@@ -0,0 +1,137 @@
+#ifndef SENSOR_REGISTERS_HPP
+#define SENSOR_REGISTERS_HPP
+
+namespace SensorRegisters
+{
+	const uint8_t XG_OFFS_TC = 0x00;
+	const uint8_t YG_OFFS_TC = 0x01;
+	const uint8_t ZG_OFFS_TC = 0x02;
+
+	const uint8_t X_FINE_GAIN = 0x03;
+	const uint8_t Y_FINE_GAIN = 0x04;
+	const uint8_t Z_FINE_GAIN = 0x05;
+
+	const uint8_t XA_OFFS_H = 0x06;
+	const uint8_t XA_OFFS_L_TC = 0x07;
+	const uint8_t YA_OFFS_H = 0x08;
+	const uint8_t YA_OFFS_L_TC = 0x09;
+	const uint8_t ZA_OFFS_H = 0x0A;
+	const uint8_t ZA_OFFS_L_TC = 0x0B;
+
+	const uint8_t SELF_TEST_X = 0x0D;
+	const uint8_t SELF_TEST_Y = 0x0E;
+	const uint8_t SELF_TEST_Z = 0x0F;
+	const uint8_t SELF_TEST_A = 0x10;
+
+	const uint8_t XG_OFFS_USRH = 0x13;
+	const uint8_t XG_OFFS_USRL = 0x14;
+	const uint8_t YG_OFFS_USRH = 0x15;
+	const uint8_t YG_OFFS_USRL = 0x16;
+	const uint8_t ZG_OFFS_USRH = 0x17;
+	const uint8_t ZG_OFFS_USRL = 0x18;
+
+	const uint8_t SMPLRT_DIV = 0x19;
+	const uint8_t CONFIG = 0x1A;
+	const uint8_t GYRO_CONFIG = 0x1B;
+	const uint8_t ACCEL_CONFIG = 0x1C;
+
+	const uint8_t FF_THR = 0x1D;
+	const uint8_t FF_DUR = 0x1E;
+	const uint8_t MOT_THR = 0x1F;
+	const uint8_t MOT_DUR = 0x20;
+	const uint8_t ZRMOT_THR = 0x21;
+	const uint8_t ZRMOT_DUR = 0x22;
+	const uint8_t FIFO_EN = 0x23;
+
+	const uint8_t I2C_MST_CTRL = 0x24;
+	const uint8_t I2C_SLV0_ADDR = 0x25;
+	const uint8_t I2C_SLV0_REG = 0x26;
+	const uint8_t I2C_SLV0_CTRL = 0x27;
+	const uint8_t I2C_SLV1_ADDR = 0x28;
+	const uint8_t I2C_SLV1_REG = 0x29;
+	const uint8_t I2C_SLV1_CTRL = 0x2A;
+	const uint8_t I2C_SLV2_ADDR = 0x2B;
+	const uint8_t I2C_SLV2_REG = 0x2C;
+	const uint8_t I2C_SLV2_CTRL = 0x2D;
+	const uint8_t I2C_SLV3_ADDR = 0x2E;
+	const uint8_t I2C_SLV3_REG = 0x2F;
+	const uint8_t I2C_SLV3_CTRL = 0x30;
+	const uint8_t I2C_SLV4_ADDR = 0x31;
+	const uint8_t I2C_SLV4_REG = 0x32;
+	const uint8_t I2C_SLV4_DO = 0x33;
+	const uint8_t I2C_SLV4_CTRL = 0x34;
+	const uint8_t I2C_SLV4_DI = 0x35;
+	const uint8_t I2C_MST_STATUS = 0x36;
+
+	const uint8_t INT_PIN_CFG = 0x37;
+	const uint8_t INT_ENABLE = 0x38;
+	const uint8_t DMP_INT_STATUS = 0x39;
+	const uint8_t INT_STATUS = 0x3A;
+
+	const uint8_t ACCEL_XOUT_H = 0x3B;
+	const uint8_t ACCEL_XOUT_L = 0x3C;
+	const uint8_t ACCEL_YOUT_H = 0x3D;
+	const uint8_t ACCEL_YOUT_L = 0x3E;
+	const uint8_t ACCEL_ZOUT_H = 0x3F;
+	const uint8_t ACCEL_ZOUT_L = 0x40;
+	const uint8_t TEMP_OUT_H = 0x41;
+	const uint8_t TEMP_OUT_L = 0x42;
+	const uint8_t GYRO_XOUT_H = 0x43;
+	const uint8_t GYRO_XOUT_L = 0x44;
+	const uint8_t GYRO_YOUT_H = 0x45;
+	const uint8_t GYRO_YOUT_L = 0x46;
+	const uint8_t GYRO_ZOUT_H = 0x47;
+	const uint8_t GYRO_ZOUT_L = 0x48;
+
+	const uint8_t EXT_SENS_DATA_00 = 0x49;
+	const uint8_t EXT_SENS_DATA_01 = 0x4A;
+	const uint8_t EXT_SENS_DATA_02 = 0x4B;
+	const uint8_t EXT_SENS_DATA_03 = 0x4C;
+	const uint8_t EXT_SENS_DATA_04 = 0x4D;
+	const uint8_t EXT_SENS_DATA_05 = 0x4E;
+	const uint8_t EXT_SENS_DATA_06 = 0x4F;
+	const uint8_t EXT_SENS_DATA_07 = 0x50;
+	const uint8_t EXT_SENS_DATA_08 = 0x51;
+	const uint8_t EXT_SENS_DATA_09 = 0x52;
+	const uint8_t EXT_SENS_DATA_10 = 0x53;
+	const uint8_t EXT_SENS_DATA_11 = 0x54;
+	const uint8_t EXT_SENS_DATA_12 = 0x55;
+	const uint8_t EXT_SENS_DATA_13 = 0x56;
+	const uint8_t EXT_SENS_DATA_14 = 0x57;
+	const uint8_t EXT_SENS_DATA_15 = 0x58;
+	const uint8_t EXT_SENS_DATA_16 = 0x59;
+	const uint8_t EXT_SENS_DATA_17 = 0x5A;
+	const uint8_t EXT_SENS_DATA_18 = 0x5B;
+	const uint8_t EXT_SENS_DATA_19 = 0x5C;
+	const uint8_t EXT_SENS_DATA_20 = 0x5D;
+	const uint8_t EXT_SENS_DATA_21 = 0x5E;
+	const uint8_t EXT_SENS_DATA_22 = 0x5F;
+	const uint8_t EXT_SENS_DATA_23 = 0x60;
+
+	const uint8_t MOT_DETECT_STATUS = 0x61;
+
+	const uint8_t I2C_SLV0_DO = 0x63;
+	const uint8_t I2C_SLV1_DO = 0x64;
+	const uint8_t I2C_SLV2_DO = 0x65;
+	const uint8_t I2C_SLV3_DO = 0x66;
+	const uint8_t I2C_MST_DELAY_CTRL = 0x67;
+
+	const uint8_t SIGNAL_PATH_RESET = 0x68;
+	const uint8_t MOT_DETECT_CTRL = 0x69;
+	const uint8_t USER_CTRL = 0x6A;
+
+	const uint8_t PWR_MGMT_1 = 0x6B;
+	const uint8_t PWR_MGMT_2 = 0x6C;
+	const uint8_t BANK_SEL = 0x6D;
+	const uint8_t MEM_START_ADDR = 0x6E;
+	const uint8_t MEM_R_W = 0x6F;
+
+	const uint8_t DMP_CFG_1 = 0x70;
+	const uint8_t DMP_CFG_2 = 0x71;
+	const uint8_t FIFO_COUNTH = 0x72;
+	const uint8_t FIFO_COUNTL = 0x73;
+	const uint8_t FIFO_R_W = 0x74;
+	const uint8_t WHO_AM_I = 0x75;
+}
+
+#endif