diff options
Diffstat (limited to 'src/sensor/registers.hpp')
| -rw-r--r-- | src/sensor/registers.hpp | 267 |
1 files changed, 133 insertions, 134 deletions
diff --git a/src/sensor/registers.hpp b/src/sensor/registers.hpp index c1b19b4..fadb62b 100644 --- a/src/sensor/registers.hpp +++ b/src/sensor/registers.hpp @@ -1,137 +1,136 @@ -#ifndef SENSOR_REGISTERS_HPP -#define SENSOR_REGISTERS_HPP +#pragma once + +#include <stdint.h> 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 + const uint8_t XG_OFFS_TC = 0x00U; + const uint8_t YG_OFFS_TC = 0x01U; + const uint8_t ZG_OFFS_TC = 0x02U; + + const uint8_t X_FINE_GAIN = 0x03U; + const uint8_t Y_FINE_GAIN = 0x04U; + const uint8_t Z_FINE_GAIN = 0x05U; + + const uint8_t XA_OFFS_H = 0x06U; + const uint8_t XA_OFFS_L_TC = 0x07U; + const uint8_t YA_OFFS_H = 0x08U; + const uint8_t YA_OFFS_L_TC = 0x09U; + const uint8_t ZA_OFFS_H = 0x0AU; + const uint8_t ZA_OFFS_L_TC = 0x0BU; + + const uint8_t SELF_TEST_X = 0x0DU; + const uint8_t SELF_TEST_Y = 0x0EU; + const uint8_t SELF_TEST_Z = 0x0FU; + const uint8_t SELF_TEST_A = 0x10U; + + const uint8_t XG_OFFS_USRH = 0x13U; + const uint8_t XG_OFFS_USRL = 0x14U; + const uint8_t YG_OFFS_USRH = 0x15U; + const uint8_t YG_OFFS_USRL = 0x16U; + const uint8_t ZG_OFFS_USRH = 0x17U; + const uint8_t ZG_OFFS_USRL = 0x18U; + + const uint8_t SMPLRT_DIV = 0x19U; + const uint8_t CONFIG = 0x1AU; + const uint8_t GYRO_CONFIG = 0x1BU; + const uint8_t ACCEL_CONFIG = 0x1CU; + + const uint8_t FF_THR = 0x1DU; + const uint8_t FF_DUR = 0x1EU; + const uint8_t MOT_THR = 0x1FU; + const uint8_t MOT_DUR = 0x20U; + const uint8_t ZRMOT_THR = 0x21U; + const uint8_t ZRMOT_DUR = 0x22U; + const uint8_t FIFO_EN = 0x23U; + + const uint8_t I2C_MST_CTRL = 0x24U; + const uint8_t I2C_SLV0_ADDR = 0x25U; + const uint8_t I2C_SLV0_REG = 0x26U; + const uint8_t I2C_SLV0_CTRL = 0x27U; + const uint8_t I2C_SLV1_ADDR = 0x28U; + const uint8_t I2C_SLV1_REG = 0x29U; + const uint8_t I2C_SLV1_CTRL = 0x2AU; + const uint8_t I2C_SLV2_ADDR = 0x2BU; + const uint8_t I2C_SLV2_REG = 0x2CU; + const uint8_t I2C_SLV2_CTRL = 0x2DU; + const uint8_t I2C_SLV3_ADDR = 0x2EU; + const uint8_t I2C_SLV3_REG = 0x2FU; + const uint8_t I2C_SLV3_CTRL = 0x30U; + const uint8_t I2C_SLV4_ADDR = 0x31U; + const uint8_t I2C_SLV4_REG = 0x32U; + const uint8_t I2C_SLV4_DO = 0x33U; + const uint8_t I2C_SLV4_CTRL = 0x34U; + const uint8_t I2C_SLV4_DI = 0x35U; + const uint8_t I2C_MST_STATUS = 0x36U; + + const uint8_t INT_PIN_CFG = 0x37U; + const uint8_t INT_ENABLE = 0x38U; + const uint8_t DMP_INT_STATUS = 0x39U; + const uint8_t INT_STATUS = 0x3AU; + + const uint8_t ACCEL_XOUT_H = 0x3BU; + const uint8_t ACCEL_XOUT_L = 0x3CU; + const uint8_t ACCEL_YOUT_H = 0x3DU; + const uint8_t ACCEL_YOUT_L = 0x3EU; + const uint8_t ACCEL_ZOUT_H = 0x3FU; + const uint8_t ACCEL_ZOUT_L = 0x40U; + const uint8_t TEMP_OUT_H = 0x41U; + const uint8_t TEMP_OUT_L = 0x42U; + const uint8_t GYRO_XOUT_H = 0x43U; + const uint8_t GYRO_XOUT_L = 0x44U; + const uint8_t GYRO_YOUT_H = 0x45U; + const uint8_t GYRO_YOUT_L = 0x46U; + const uint8_t GYRO_ZOUT_H = 0x47U; + const uint8_t GYRO_ZOUT_L = 0x48U; + + const uint8_t EXT_SENS_DATA_00 = 0x49U; + const uint8_t EXT_SENS_DATA_01 = 0x4AU; + const uint8_t EXT_SENS_DATA_02 = 0x4BU; + const uint8_t EXT_SENS_DATA_03 = 0x4CU; + const uint8_t EXT_SENS_DATA_04 = 0x4DU; + const uint8_t EXT_SENS_DATA_05 = 0x4EU; + const uint8_t EXT_SENS_DATA_06 = 0x4FU; + const uint8_t EXT_SENS_DATA_07 = 0x50U; + const uint8_t EXT_SENS_DATA_08 = 0x51U; + const uint8_t EXT_SENS_DATA_09 = 0x52U; + const uint8_t EXT_SENS_DATA_10 = 0x53U; + const uint8_t EXT_SENS_DATA_11 = 0x54U; + const uint8_t EXT_SENS_DATA_12 = 0x55U; + const uint8_t EXT_SENS_DATA_13 = 0x56U; + const uint8_t EXT_SENS_DATA_14 = 0x57U; + const uint8_t EXT_SENS_DATA_15 = 0x58U; + const uint8_t EXT_SENS_DATA_16 = 0x59U; + const uint8_t EXT_SENS_DATA_17 = 0x5AU; + const uint8_t EXT_SENS_DATA_18 = 0x5BU; + const uint8_t EXT_SENS_DATA_19 = 0x5CU; + const uint8_t EXT_SENS_DATA_20 = 0x5DU; + const uint8_t EXT_SENS_DATA_21 = 0x5EU; + const uint8_t EXT_SENS_DATA_22 = 0x5FU; + const uint8_t EXT_SENS_DATA_23 = 0x60U; + + const uint8_t MOT_DETECT_STATUS = 0x61U; + + const uint8_t I2C_SLV0_DO = 0x63U; + const uint8_t I2C_SLV1_DO = 0x64U; + const uint8_t I2C_SLV2_DO = 0x65U; + const uint8_t I2C_SLV3_DO = 0x66U; + const uint8_t I2C_MST_DELAY_CTRL = 0x67U; + + const uint8_t SIGNAL_PATH_RESET = 0x68U; + const uint8_t MOT_DETECT_CTRL = 0x69U; + const uint8_t USER_CTRL = 0x6AU; + + const uint8_t PWR_MGMT_1 = 0x6BU; + const uint8_t PWR_MGMT_2 = 0x6CU; + const uint8_t BANK_SEL = 0x6DU; + const uint8_t MEM_START_ADDR = 0x6EU; + const uint8_t MEM_R_W = 0x6FU; + + const uint8_t DMP_CFG_1 = 0x70U; + const uint8_t DMP_CFG_2 = 0x71U; + const uint8_t FIFO_COUNTH = 0x72U; + const uint8_t FIFO_COUNTL = 0x73U; + const uint8_t FIFO_R_W = 0x74U; + const uint8_t WHO_AM_I = 0x75U; +} // namespace SensorRegisters |