refactor: improve whole project

1 files changed, 132 insertions, 129 deletions

diff --git a/src/sensor_registers.hpp b/src/sensor_registers.hpp
index 34b47c6..c1b19b4 100644
--- a/src/sensor_registers.hpp
+++ b/src/sensor_registers.hpp
@@ -1,134 +1,137 @@
 #ifndef SENSOR_REGISTERS_HPP
 #define SENSOR_REGISTERS_HPP
 
-#define SENSOR_XG_OFFS_TC 0x00
-#define SENSOR_YG_OFFS_TC 0x01
-#define SENSOR_ZG_OFFS_TC 0x02
-
-#define SENSOR_X_FINE_GAIN 0x03
-#define SENSOR_Y_FINE_GAIN 0x04
-#define SENSOR_Z_FINE_GAIN 0x05
-
-#define SENSOR_XA_OFFS_H 0x06
-#define SENSOR_XA_OFFS_L_TC 0x07
-#define SENSOR_YA_OFFS_H 0x08
-#define SENSOR_YA_OFFS_L_TC 0x09
-#define SENSOR_ZA_OFFS_H 0x0A
-#define SENSOR_ZA_OFFS_L_TC 0x0B
-
-#define SENSOR_SELF_TEST_X 0x0D
-#define SENSOR_SELF_TEST_Y 0x0E
-#define SENSOR_SELF_TEST_Z 0x0F
-#define SENSOR_SELF_TEST_A 0x10
-
-#define SENSOR_XG_OFFS_USRH 0x13
-#define SENSOR_XG_OFFS_USRL 0x14
-#define SENSOR_YG_OFFS_USRH 0x15
-#define SENSOR_YG_OFFS_USRL 0x16
-#define SENSOR_ZG_OFFS_USRH 0x17
-#define SENSOR_ZG_OFFS_USRL 0x18
-
-#define SENSOR_SMPLRT_DIV 0x19
-#define SENSOR_CONFIG 0x1A
-#define SENSOR_GYRO_CONFIG 0x1B
-#define SENSOR_ACCEL_CONFIG 0x1C
-
-#define SENSOR_FF_THR 0x1D
-#define SENSOR_FF_DUR 0x1E
-#define SENSOR_MOT_THR 0x1F
-#define SENSOR_MOT_DUR 0x20
-#define SENSOR_ZRMOT_THR 0x21
-#define SENSOR_ZRMOT_DUR 0x22
-#define SENSOR_FIFO_EN 0x23
-
-#define SENSOR_I2C_MST_CTRL 0x24
-#define SENSOR_I2C_SLV0_ADDR 0x25
-#define SENSOR_I2C_SLV0_REG 0x26
-#define SENSOR_I2C_SLV0_CTRL 0x27
-#define SENSOR_I2C_SLV1_ADDR 0x28
-#define SENSOR_I2C_SLV1_REG 0x29
-#define SENSOR_I2C_SLV1_CTRL 0x2A
-#define SENSOR_I2C_SLV2_ADDR 0x2B
-#define SENSOR_I2C_SLV2_REG 0x2C
-#define SENSOR_I2C_SLV2_CTRL 0x2D
-#define SENSOR_I2C_SLV3_ADDR 0x2E
-#define SENSOR_I2C_SLV3_REG 0x2F
-#define SENSOR_I2C_SLV3_CTRL 0x30
-#define SENSOR_I2C_SLV4_ADDR 0x31
-#define SENSOR_I2C_SLV4_REG 0x32
-#define SENSOR_I2C_SLV4_DO 0x33
-#define SENSOR_I2C_SLV4_CTRL 0x34
-#define SENSOR_I2C_SLV4_DI 0x35
-#define SENSOR_I2C_MST_STATUS 0x36
-
-#define SENSOR_INT_PIN_CFG 0x37
-#define SENSOR_INT_ENABLE 0x38
-#define SENSOR_DMP_INT_STATUS 0x39
-#define SENSOR_INT_STATUS 0x3A
-
-#define SENSOR_ACCEL_XOUT_H 0x3B
-#define SENSOR_ACCEL_XOUT_L 0x3C
-#define SENSOR_ACCEL_YOUT_H 0x3D
-#define SENSOR_ACCEL_YOUT_L 0x3E
-#define SENSOR_ACCEL_ZOUT_H 0x3F
-#define SENSOR_ACCEL_ZOUT_L 0x40
-#define SENSOR_TEMP_OUT_H 0x41
-#define SENSOR_TEMP_OUT_L 0x42
-#define SENSOR_GYRO_XOUT_H 0x43
-#define SENSOR_GYRO_XOUT_L 0x44
-#define SENSOR_GYRO_YOUT_H 0x45
-#define SENSOR_GYRO_YOUT_L 0x46
-#define SENSOR_GYRO_ZOUT_H 0x47
-#define SENSOR_GYRO_ZOUT_L 0x48
-
-#define SENSOR_EXT_SENS_DATA_00 0x49
-#define SENSOR_EXT_SENS_DATA_01 0x4A
-#define SENSOR_EXT_SENS_DATA_02 0x4B
-#define SENSOR_EXT_SENS_DATA_03 0x4C
-#define SENSOR_EXT_SENS_DATA_04 0x4D
-#define SENSOR_EXT_SENS_DATA_05 0x4E
-#define SENSOR_EXT_SENS_DATA_06 0x4F
-#define SENSOR_EXT_SENS_DATA_07 0x50
-#define SENSOR_EXT_SENS_DATA_08 0x51
-#define SENSOR_EXT_SENS_DATA_09 0x52
-#define SENSOR_EXT_SENS_DATA_10 0x53
-#define SENSOR_EXT_SENS_DATA_11 0x54
-#define SENSOR_EXT_SENS_DATA_12 0x55
-#define SENSOR_EXT_SENS_DATA_13 0x56
-#define SENSOR_EXT_SENS_DATA_14 0x57
-#define SENSOR_EXT_SENS_DATA_15 0x58
-#define SENSOR_EXT_SENS_DATA_16 0x59
-#define SENSOR_EXT_SENS_DATA_17 0x5A
-#define SENSOR_EXT_SENS_DATA_18 0x5B
-#define SENSOR_EXT_SENS_DATA_19 0x5C
-#define SENSOR_EXT_SENS_DATA_20 0x5D
-#define SENSOR_EXT_SENS_DATA_21 0x5E
-#define SENSOR_EXT_SENS_DATA_22 0x5F
-#define SENSOR_EXT_SENS_DATA_23 0x60
-
-#define SENSOR_MOT_DETECT_STATUS 0x61
-
-#define SENSOR_I2C_SLV0_DO 0x63
-#define SENSOR_I2C_SLV1_DO 0x64
-#define SENSOR_I2C_SLV2_DO 0x65
-#define SENSOR_I2C_SLV3_DO 0x66
-#define SENSOR_I2C_MST_DELAY_CTRL 0x67
-
-#define SENSOR_SIGNAL_PATH_RESET 0x68
-#define SENSOR_MOT_DETECT_CTRL 0x69
-#define SENSOR_USER_CTRL 0x6A
-
-#define SENSOR_PWR_MGMT_1 0x6B
-#define SENSOR_PWR_MGMT_2 0x6C
-#define SENSOR_BANK_SEL 0x6D
-#define SENSOR_MEM_START_ADDR 0x6E
-#define SENSOR_MEM_R_W 0x6F
-
-#define SENSOR_DMP_CFG_1 0x70
-#define SENSOR_DMP_CFG_2 0x71
-#define SENSOR_FIFO_COUNTH 0x72
-#define SENSOR_FIFO_COUNTL 0x73
-#define SENSOR_FIFO_R_W 0x74
-#define SENSOR_WHO_AM_I 0x75
+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