refactor: replace GY521 library

1 files changed, 134 insertions, 0 deletions

diff --git a/src/sensor_registers.hpp b/src/sensor_registers.hpp
new file mode 100644
index 0000000..34b47c6
--- /dev/null
+++ b/src/sensor_registers.hpp
@@ -0,0 +1,134 @@
+#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
+
+#endif