registers.hpp

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// =========================================================================
// This library is placed under the MIT License
// Copyright 2017-2018 Natanael Josue Rabello. All rights reserved.
// For the license information refer to LICENSE file in root directory.
// =========================================================================

#ifndef _MPU_REGISTERS_HPP_
#define _MPU_REGISTERS_HPP_

#include <stdint.h>
#include "sdkconfig.h"

namespace mpud {

namespace regs {

/*******************************************************************************
 * MPU commom registers for all models
 ******************************************************************************/
constexpr uint8_t XG_OFFSET_H         {0x13};
constexpr uint8_t XG_OFFSET_L         {0x14};
constexpr uint8_t YG_OFFSET_H         {0x15};
constexpr uint8_t YG_OFFSET_L         {0x16};
constexpr uint8_t ZG_OFFSET_H         {0x17};
constexpr uint8_t ZG_OFFSET_L         {0x18};
constexpr uint8_t SMPLRT_DIV          {0x19};  // [7:0]
//------------------------------------------------------------------------------
constexpr uint8_t CONFIG              {0x1A};
constexpr uint8_t CONFIG_FIFO_MODE_BIT        {6};
constexpr uint8_t CONFIG_EXT_SYNC_SET_BIT     {5};  // [5:3]
constexpr uint8_t CONFIG_EXT_SYNC_SET_LENGTH  {3};
constexpr uint8_t CONFIG_DLPF_CFG_BIT         {2};  // [2:0]
constexpr uint8_t CONFIG_DLPF_CFG_LENGTH      {3};
//------------------------------------------------------------------------------
constexpr uint8_t GYRO_CONFIG         {0x1B};
constexpr uint8_t GCONFIG_XG_ST_BIT           {7};
constexpr uint8_t GCONFIG_YG_ST_BIT           {6};
constexpr uint8_t GCONFIG_ZG_ST_BIT           {5};
constexpr uint8_t GCONFIG_FS_SEL_BIT          {4};  // [4:3]
constexpr uint8_t GCONFIG_FS_SEL_LENGTH       {2};
constexpr uint8_t GCONFIG_FCHOICE_B           {1};  // [1:0]
constexpr uint8_t GCONFIG_FCHOICE_B_LENGTH    {2};
//------------------------------------------------------------------------------
constexpr uint8_t ACCEL_CONFIG        {0x1C};
constexpr uint8_t ACONFIG_XA_ST_BIT           {7};
constexpr uint8_t ACONFIG_YA_ST_BIT           {6};
constexpr uint8_t ACONFIG_ZA_ST_BIT           {5};
constexpr uint8_t ACONFIG_FS_SEL_BIT          {4};  // [4:3]
constexpr uint8_t ACONFIG_FS_SEL_LENGTH       {2};
constexpr uint8_t ACONFIG_HPF_BIT             {2};  // [2:0]
constexpr uint8_t ACONFIG_HPF_LENGTH          {3};
//------------------------------------------------------------------------------
constexpr uint8_t FF_THR              {0x1D};
constexpr uint8_t FF_DUR              {0x1E};
constexpr uint8_t MOTION_THR          {0x1F};  // [7:0] // MPU9250_REG_WOM_THR
constexpr uint8_t MOTION_DUR          {0x20};
constexpr uint8_t ZRMOTION_THR        {0x21};
constexpr uint8_t ZRMOTION_DUR        {0x22};
//------------------------------------------------------------------------------
constexpr uint8_t FIFO_EN             {0x23};
constexpr uint8_t FIFO_TEMP_EN_BIT            {7};
constexpr uint8_t FIFO_XGYRO_EN_BIT           {6};
constexpr uint8_t FIFO_YGYRO_EN_BIT           {5};
constexpr uint8_t FIFO_ZGYRO_EN_BIT           {4};
constexpr uint8_t FIFO_ACCEL_EN_BIT           {3};
constexpr uint8_t FIFO_SLV_2_EN_BIT           {2};
constexpr uint8_t FIFO_SLV_1_EN_BIT           {1};
constexpr uint8_t FIFO_SLV_0_EN_BIT           {0};
//------------------------------------------------------------------------------
constexpr uint8_t I2C_MST_CTRL        {0x24};
constexpr uint8_t I2CMST_CTRL_MULT_EN_BIT     {7};
constexpr uint8_t I2CMST_CTRL_WAIT_FOR_ES_BIT {6};
constexpr uint8_t I2CMST_CTRL_SLV_3_FIFO_EN_BIT{5};
constexpr uint8_t I2CMST_CTRL_P_NSR_BIT       {4};
constexpr uint8_t I2CMST_CTRL_CLOCK_BIT       {3};  // [3:0]
constexpr uint8_t I2CMST_CTRL_CLOCK_LENGTH    {4};
//------------------------------------------------------------------------------
constexpr uint8_t I2C_SLV0_ADDR       {0x25};
constexpr uint8_t I2C_SLV_RNW_BIT             {7};  // same for all I2C_SLV registers
constexpr uint8_t I2C_SLV_ID_BIT              {6};  // [6:0]
constexpr uint8_t I2C_SLV_ID_LENGTH           {7};
//------------------------------------------------------------------------------
constexpr uint8_t I2C_SLV0_REG        {0x26};  // [7:0]
//------------------------------------------------------------------------------
constexpr uint8_t I2C_SLV0_CTRL       {0x27};
constexpr uint8_t I2C_SLV_EN_BIT              {7};  // same for all I2C_SLV registers
constexpr uint8_t I2C_SLV_BYTE_SW_BIT         {6};
constexpr uint8_t I2C_SLV_REG_DIS_BIT         {5};
constexpr uint8_t I2C_SLV_GRP_BIT             {4};
constexpr uint8_t I2C_SLV_LEN_BIT             {3};  // [3:0]
constexpr uint8_t I2C_SLV_LEN_LENGTH          {4};
//------------------------------------------------------------------------------
constexpr uint8_t I2C_SLV1_ADDR       {0x28};  // see SLV0 for bit defines
constexpr uint8_t I2C_SLV1_REG        {0x29};
constexpr uint8_t I2C_SLV1_CTRL       {0x2A};
constexpr uint8_t I2C_SLV2_ADDR       {0x2B};  // see SLV0 for bit defines
constexpr uint8_t I2C_SLV2_REG        {0x2C};
constexpr uint8_t I2C_SLV2_CTRL       {0x2D};
constexpr uint8_t I2C_SLV3_ADDR       {0x2E};  // see SLV0 for bit defines
constexpr uint8_t I2C_SLV3_REG        {0x2F};
constexpr uint8_t I2C_SLV3_CTRL       {0x30};
constexpr uint8_t I2C_SLV4_ADDR       {0x31};  // see SLV0 for bit defines
constexpr uint8_t I2C_SLV4_REG        {0x32};
constexpr uint8_t I2C_SLV4_DO         {0x33};  // [7:0]
//------------------------------------------------------------------------------
constexpr uint8_t I2C_SLV4_CTRL       {0x34};
constexpr uint8_t I2C_SLV4_EN_BIT             {7};
constexpr uint8_t I2C_SLV4_DONE_INT_BIT       {6};
constexpr uint8_t I2C_SLV4_REG_DIS_BIT        {5};
constexpr uint8_t I2C_SLV4_MST_DELAY_BIT      {4};  // [4:0]
constexpr uint8_t I2C_SLV4_MST_DELAY_LENGTH   {5};
//------------------------------------------------------------------------------
constexpr uint8_t I2C_SLV4_DI         {0x35};  // [7:0]
//------------------------------------------------------------------------------
constexpr uint8_t I2C_MST_STATUS      {0x36};
constexpr uint8_t I2CMST_STAT_PASS_THROUGH_BIT{7};
constexpr uint8_t I2CMST_STAT_SLV4_DONE_BIT   {6};
constexpr uint8_t I2CMST_STAT_LOST_ARB_BIT    {5};
constexpr uint8_t I2CMST_STAT_SLV4_NACK_BIT   {4};
constexpr uint8_t I2CMST_STAT_SLV3_NACK_BIT   {3};
constexpr uint8_t I2CMST_STAT_SLV2_NACK_BIT   {2};
constexpr uint8_t I2CMST_STAT_SLV1_NACK_BIT   {1};
constexpr uint8_t I2CMST_STAT_SLV0_NACK_BIT   {0};
//------------------------------------------------------------------------------
constexpr uint8_t INT_PIN_CONFIG      {0x37};
constexpr uint8_t INT_CFG_LEVEL_BIT           {7};
constexpr uint8_t INT_CFG_OPEN_BIT            {6};
constexpr uint8_t INT_CFG_LATCH_EN_BIT        {5};
constexpr uint8_t INT_CFG_ANYRD_2CLEAR_BIT    {4};
constexpr uint8_t INT_CFG_FSYNC_LEVEL_BIT     {3};
constexpr uint8_t INT_CFG_FSYNC_INT_MODE_EN_BIT{2};
constexpr uint8_t INT_CFG_I2C_BYPASS_EN_BIT   {1};
constexpr uint8_t INT_CFG_CLOCKOUT_EN_BIT     {0};
//------------------------------------------------------------------------------
constexpr uint8_t INT_ENABLE          {0x38};
constexpr uint8_t INT_ENABLE_FREEFALL_BIT     {7};
constexpr uint8_t INT_ENABLE_MOTION_BIT       {6};
constexpr uint8_t INT_ENABLE_ZEROMOT_BIT      {5};
constexpr uint8_t INT_ENABLE_FIFO_OFLOW_BIT   {4};
constexpr uint8_t INT_ENABLE_I2C_MST_FSYNC_BIT{3};
constexpr uint8_t INT_ENABLE_PLL_RDY_BIT      {2};
constexpr uint8_t INT_ENABLE_DMP_RDY_BIT      {1};
constexpr uint8_t INT_ENABLE_RAW_DATA_RDY_BIT {0};
//------------------------------------------------------------------------------
constexpr uint8_t DMP_INT_STATUS      {0x39};
constexpr uint8_t DMP_INT_STATUS_0            {0};
constexpr uint8_t DMP_INT_STATUS_1            {1};
constexpr uint8_t DMP_INT_STATUS_2            {2};
constexpr uint8_t DMP_INT_STATUS_3            {3};
constexpr uint8_t DMP_INT_STATUS_4            {4};
constexpr uint8_t DMP_INT_STATUS_5            {5};
//------------------------------------------------------------------------------
constexpr uint8_t INT_STATUS          {0x3A};
constexpr uint8_t INT_STATUS_FREEFALL_BIT     {7};
constexpr uint8_t INT_STATUS_MOTION_BIT       {6};
constexpr uint8_t INT_STATUS_ZEROMOT_BIT      {5};
constexpr uint8_t INT_STATUS_FIFO_OFLOW_BIT   {4};
constexpr uint8_t INT_STATUS_I2C_MST_BIT      {3};
constexpr uint8_t INT_STATUS_PLL_RDY_BIT      {2};
constexpr uint8_t INT_STATUS_DMP_RDY_BIT      {1};
constexpr uint8_t INT_STATUS_RAW_DATA_RDY_BIT {0};
//------------------------------------------------------------------------------
constexpr uint8_t ACCEL_XOUT_H        {0x3B};  // [15:0]
constexpr uint8_t ACCEL_XOUT_L        {0x3C};
constexpr uint8_t ACCEL_YOUT_H        {0x3D};  // [15:0]
constexpr uint8_t ACCEL_YOUT_L        {0x3E};
constexpr uint8_t ACCEL_ZOUT_H        {0x3F};  // [15:0]
constexpr uint8_t ACCEL_ZOUT_L        {0x40};
constexpr uint8_t TEMP_OUT_H          {0x41};  // [15:0]
constexpr uint8_t TEMP_OUT_L          {0x42};
constexpr uint8_t GYRO_XOUT_H         {0x43};  // [15:0]
constexpr uint8_t GYRO_XOUT_L         {0x44};
constexpr uint8_t GYRO_YOUT_H         {0x45};  // [15:0]
constexpr uint8_t GYRO_YOUT_L         {0x46};
constexpr uint8_t GYRO_ZOUT_H         {0x47};  // [15:0]
constexpr uint8_t GYRO_ZOUT_L         {0x48};
constexpr uint8_t EXT_SENS_DATA_00    {0x49};  // Stores data read from Slave 0, 1, 2, and 3
constexpr uint8_t EXT_SENS_DATA_01    {0x4A};
constexpr uint8_t EXT_SENS_DATA_02    {0x4B};
constexpr uint8_t EXT_SENS_DATA_03    {0x4C};
constexpr uint8_t EXT_SENS_DATA_04    {0x4D};
constexpr uint8_t EXT_SENS_DATA_05    {0x4E};
constexpr uint8_t EXT_SENS_DATA_06    {0x4F};
constexpr uint8_t EXT_SENS_DATA_07    {0x50};
constexpr uint8_t EXT_SENS_DATA_08    {0x51};
constexpr uint8_t EXT_SENS_DATA_09    {0x52};
constexpr uint8_t EXT_SENS_DATA_10    {0x53};
constexpr uint8_t EXT_SENS_DATA_11    {0x54};
constexpr uint8_t EXT_SENS_DATA_12    {0x55};
constexpr uint8_t EXT_SENS_DATA_13    {0x56};
constexpr uint8_t EXT_SENS_DATA_14    {0x57};
constexpr uint8_t EXT_SENS_DATA_15    {0x58};
constexpr uint8_t EXT_SENS_DATA_16    {0x59};
constexpr uint8_t EXT_SENS_DATA_17    {0x5A};
constexpr uint8_t EXT_SENS_DATA_18    {0x5B};
constexpr uint8_t EXT_SENS_DATA_19    {0x5C};
constexpr uint8_t EXT_SENS_DATA_20    {0x5D};
constexpr uint8_t EXT_SENS_DATA_21    {0x5E};
constexpr uint8_t EXT_SENS_DATA_22    {0x5F};
constexpr uint8_t EXT_SENS_DATA_23    {0x60};
constexpr uint8_t I2C_SLV0_DO         {0x63};
constexpr uint8_t I2C_SLV1_DO         {0x64};
constexpr uint8_t I2C_SLV2_DO         {0x65};
constexpr uint8_t I2C_SLV3_DO         {0x66};
//------------------------------------------------------------------------------
constexpr uint8_t I2C_MST_DELAY_CRTL  {0x67};
constexpr uint8_t I2CMST_DLY_ES_SHADOW_BIT    {7};
constexpr uint8_t I2CMST_DLY_SLV4_EN_BIT      {4};
constexpr uint8_t I2CMST_DLY_SLV3_EN_BIT      {3};
constexpr uint8_t I2CMST_DLY_SLV2_EN_BIT      {2};
constexpr uint8_t I2CMST_DLY_SLV1_EN_BIT      {1};
constexpr uint8_t I2CMST_DLY_SLV0_EN_BIT      {0};
//------------------------------------------------------------------------------
constexpr uint8_t SIGNAL_PATH_RESET   {0x68};
constexpr uint8_t SPATH_GYRO_RST_BIT          {2};
constexpr uint8_t SPATH_ACCEL_RST_BIT         {1};
constexpr uint8_t SPATH_TEMP_RST_BIT          {0};
//------------------------------------------------------------------------------
constexpr uint8_t USER_CTRL           {0x6A};
constexpr uint8_t USERCTRL_DMP_EN_BIT         {7};
constexpr uint8_t USERCTRL_FIFO_EN_BIT        {6};
constexpr uint8_t USERCTRL_I2C_MST_EN_BIT     {5};
constexpr uint8_t USERCTRL_I2C_IF_DIS_BIT     {4};
constexpr uint8_t USERCTRL_DMP_RESET_BIT      {3};
constexpr uint8_t USERCTRL_FIFO_RESET_BIT     {2};
constexpr uint8_t USERCTRL_I2C_MST_RESET_BIT  {1};
constexpr uint8_t USERCTRL_SIG_COND_RESET_BIT {0};
//------------------------------------------------------------------------------
constexpr uint8_t PWR_MGMT1           {0x6B};
constexpr uint8_t PWR1_DEVICE_RESET_BIT       {7};
constexpr uint8_t PWR1_SLEEP_BIT              {6};
constexpr uint8_t PWR1_CYCLE_BIT              {5};
constexpr uint8_t PWR1_GYRO_STANDBY_BIT       {4};
constexpr uint8_t PWR1_TEMP_DIS_BIT           {3};
constexpr uint8_t PWR1_CLKSEL_BIT             {2};
constexpr uint8_t PWR1_CLKSEL_LENGTH          {3};
//------------------------------------------------------------------------------
constexpr uint8_t PWR_MGMT2           {0x6C};
constexpr uint8_t PWR2_LP_WAKE_CTRL_BIT       {7};
constexpr uint8_t PWR2_LP_WAKE_CTRL_LENGTH    {2};
constexpr uint8_t PWR2_STBY_XA_BIT            {5};
constexpr uint8_t PWR2_STBY_YA_BIT            {4};
constexpr uint8_t PWR2_STBY_ZA_BIT            {3};
constexpr uint8_t PWR2_STBY_XG_BIT            {2};
constexpr uint8_t PWR2_STBY_YG_BIT            {1};
constexpr uint8_t PWR2_STBY_ZG_BIT            {0};
constexpr uint8_t PWR2_STBY_XYZA_BITS         {1 << PWR2_STBY_XA_BIT | 1 << PWR2_STBY_YA_BIT | 1 << PWR2_STBY_ZA_BIT};
constexpr uint8_t PWR2_STBY_XYZG_BITS         {1 << PWR2_STBY_XG_BIT | 1 << PWR2_STBY_YG_BIT | 1 << PWR2_STBY_ZG_BIT};
//------------------------------------------------------------------------------
constexpr uint8_t BANK_SEL            {0x6D};
constexpr uint8_t BANKSEL_PRFTCH_EN_BIT       {6};
constexpr uint8_t BANKSEL_CFG_USER_BANK_BIT   {5};
constexpr uint8_t BANKSEL_MEM_SEL_BIT         {4};
constexpr uint8_t BANKSEL_MEM_SEL_LENGTH      {5};
//------------------------------------------------------------------------------
constexpr uint8_t MEM_START_ADDR      {0x6E};
constexpr uint8_t MEM_R_W             {0x6F};
constexpr uint8_t PRGM_START_H        {0x70};
constexpr uint8_t PRGM_START_L        {0x71};
constexpr uint8_t FIFO_COUNT_H        {0x72};  // [15:0]
constexpr uint8_t FIFO_COUNT_L        {0x73};
constexpr uint8_t FIFO_R_W            {0x74};
constexpr uint8_t WHO_AM_I            {0x75};




/*******************************************************************************
 * MPU6000, MPU6050 and MPU9150 registers
 ******************************************************************************/
#if defined CONFIG_MPU6050
constexpr uint8_t XG_OTP_OFFSET_TC    {0x00};  // [7] PWR_MODE, [6:1] XG_OFFS_TC, [0] OTP_BNK_VLD
//------------------------------------------------------------------------------
constexpr uint8_t YG_OTP_OFFSET_TC    {0x01};  // [7] PWR_MODE, [6:1] YG_OFFS_TC, [0] OTP_BNK_VLD
constexpr uint8_t TC_PWR_MODE_BIT             {7};  // note: TC = temperature compensation, i think
//------------------------------------------------------------------------------
constexpr uint8_t ZG_OTP_OFFSET_TC    {0x02};  // [7] PWR_MODE, [6:1] ZG_OFFS_TC, [0] OTP_BNK_VLD
constexpr uint8_t X_FINE_GAIN         {0x03};  // [7:0] X_FINE_GAIN
constexpr uint8_t Y_FINE_GAIN         {0x04};  // [7:0] Y_FINE_GAIN
constexpr uint8_t Z_FINE_GAIN         {0x05};  // [7:0] Z_FINE_GAIN
constexpr uint8_t XA_OFFSET_H         {0x06};  // [15:1] XA_OFFS
constexpr uint8_t XA_OFFSET_L         {0x07};  // note: TC: bit [0]
constexpr uint8_t YA_OFFSET_H         {0x08};  // [15:1] YA_OFFS
constexpr uint8_t YA_OFFSET_L         {0x09};  // note: TC: bit [0]
constexpr uint8_t ZA_OFFSET_H         {0x0A};  // [15:1] ZA_OFFS
constexpr uint8_t ZA_OFFSET_L         {0x0B};  // note: TC: bit [0]
constexpr uint8_t SELF_TEST_X         {0x0D};
constexpr uint8_t SELF_TEST_Y         {0x0E};
constexpr uint8_t SELF_TEST_Z         {0x0F};
constexpr uint8_t SELF_TEST_A         {0x10};
//------------------------------------------------------------------------------
constexpr uint8_t MOTION_DETECT_STATUS{0x61};
constexpr uint8_t MOT_STATUS_X_NEG_BIT       {7};
constexpr uint8_t MOT_STATUS_X_POS_BIT       {6};
constexpr uint8_t MOT_STATUS_Y_NEG_BIT       {5};
constexpr uint8_t MOT_STATUS_Y_POS_BIT       {4};
constexpr uint8_t MOT_STATUS_Z_NEG_BIT       {3};
constexpr uint8_t MOT_STATUS_Z_POS_BIT       {2};
constexpr uint8_t MOT_STATUS_ZRMOT_BIT       {0};
//------------------------------------------------------------------------------
constexpr uint8_t MOTION_DETECT_CTRL  {0x69};
constexpr uint8_t MOTCTRL_ACCEL_ON_DELAY_BIT {5};  // [5:4]
constexpr uint8_t MOTCTRL_ACCEL_ON_DELAY_LENGTH{2};
constexpr uint8_t MOTCTRL_FF_COUNT_BIT       {3};  // [3:2]
constexpr uint8_t MOTCTRL_FF_COUNT_LENGTH    {2};
constexpr uint8_t MOTCTRL_MOT_COUNT_BIT      {1};  // [1:0]
constexpr uint8_t MOTCTRL_MOT_COUNT_LENGTH   {2};
//------------------------------------------------------------------------------
#endif



/*******************************************************************************
 * MPU6500 and MPU9250 registers
 ******************************************************************************/
#if defined CONFIG_MPU6500
constexpr uint8_t SELF_TEST_X_GYRO    {0x00};  // XG_ST_DATA[7:0]
constexpr uint8_t SELF_TEST_Y_GYRO    {0x01};  // YG_ST_DATA[7:0]
constexpr uint8_t SELF_TEST_Z_GYRO    {0x02};  // ZG_ST_DATA[7:0]
constexpr uint8_t SELF_TEST_X_ACCEL   {0x0D};
constexpr uint8_t SELF_TEST_Y_ACCEL   {0x0E};
constexpr uint8_t SELF_TEST_Z_ACCEL   {0x0F};
//------------------------------------------------------------------------------
constexpr uint8_t ACCEL_CONFIG2       {0x1D};
constexpr uint8_t ACONFIG2_FIFO_SIZE_BIT      {7};  // [7:6]
constexpr uint8_t ACONFIG2_FIFO_SIZE_LENGTH   {2};
constexpr uint8_t ACONFIG2_ACCEL_FCHOICE_B_BIT{3};
constexpr uint8_t ACONFIG2_A_DLPF_CFG_BIT     {2};  // [2:0]
constexpr uint8_t ACONFIG2_A_DLPF_CFG_LENGTH  {3};
//------------------------------------------------------------------------------
constexpr uint8_t LP_ACCEL_ODR        {0x1E};
constexpr uint8_t LPA_ODR_CLKSEL_BIT          {3};  // [3:0]
constexpr uint8_t LPA_ODR_CLKSEL_LENGTH       {4};
//------------------------------------------------------------------------------
constexpr uint8_t ACCEL_INTEL_CTRL     {0x69};
constexpr uint8_t ACCEL_INTEL_EN_BIT   {7};
constexpr uint8_t ACCEL_INTEL_MODE_BIT {6};
//------------------------------------------------------------------------------
constexpr uint8_t XA_OFFSET_H         {0x77};
constexpr uint8_t XA_OFFSET_L         {0x78};
constexpr uint8_t YA_OFFSET_H         {0x7A};
constexpr uint8_t YA_OFFSET_L         {0x7B};
constexpr uint8_t ZA_OFFSET_H         {0x7D};
constexpr uint8_t ZA_OFFSET_L         {0x7E};
#endif



/*******************************************************************************
 * MPU9150 and MPU9250 Magnetometer registers (AK89xx)
 ******************************************************************************/
#if defined CONFIG_MPU_AK89xx

namespace mag {

constexpr uint8_t WHO_I_AM        {0x00};
constexpr uint8_t INFO            {0x01};
//------------------------------------------------------------------------------
constexpr uint8_t STATUS1         {0x02};
constexpr uint8_t STATUS1_DATA_RDY_BIT    {0};
//------------------------------------------------------------------------------
constexpr uint8_t HXL             {0x03};
constexpr uint8_t HXH             {0x04};
constexpr uint8_t HYL             {0x05};
constexpr uint8_t HYH             {0x06};
constexpr uint8_t HZL             {0x07};
constexpr uint8_t HZH             {0x08};
//------------------------------------------------------------------------------
constexpr uint8_t STATUS2         {0x09};
constexpr uint8_t STATUS2_OVERFLOW_BIT    {3};
//------------------------------------------------------------------------------
constexpr uint8_t CONTROL1        {0x0A};
constexpr uint8_t CONTROL1_MODE_BIT       {3};
constexpr uint8_t CONTROL1_MODE_LENGTH    {4};
//------------------------------------------------------------------------------
constexpr uint8_t ASTC            {0x0C};
constexpr uint8_t ASTC_SELF_TEST_BIT      {6};
//------------------------------------------------------------------------------
constexpr uint8_t TEST1           {0x0D};
constexpr uint8_t TEST2           {0x0E};
//------------------------------------------------------------------------------
constexpr uint8_t I2CDIS          {0x0F};
constexpr uint8_t I2CDIS_DISABLE_VALUE    {0x1B};
//------------------------------------------------------------------------------
constexpr uint8_t ASAX            {0x10};
constexpr uint8_t ASAY            {0x11};
constexpr uint8_t ASAZ            {0x12};

/*******************************************************************************
 * MPU9150 Magnetometer (AK8975)
 ******************************************************************************/
#if defined CONFIG_MPU_AK8975
constexpr uint8_t STATUS2_DATA_ERROR_BIT  {2};
#endif

/*******************************************************************************
 * MPU9250 Magnetometer (AK8963)
 ******************************************************************************/
#if defined CONFIG_MPU_AK8963
constexpr uint8_t STATUS1_DATA_OVERRUN_BIT{1};
constexpr uint8_t STATUS2_BIT_OUTPUT_M_BIT{4};
constexpr uint8_t CONTROL1_BIT_OUTPUT_BIT {4};
//------------------------------------------------------------------------------
constexpr uint8_t CONTROL2        {0x0B};
constexpr uint8_t CONTROL2_SOFT_RESET_BIT {0};
//------------------------------------------------------------------------------
#endif

}  // namespace mag
#endif  // AK89xx

}  // namespace regs

}  // namespace mpud

#endif  /* end of include guard: _MPU_REGISTERS_HPP_ */