# register definitions
CHIP_ID           = (0x00)
PMU_STATUS        = (0x03)
GYRO_X_L          = (0x0C)
GYRO_X_H          = (0x0D)
GYRO_Y_L          = (0x0E)
GYRO_Y_H          = (0x0F)
GYRO_Z_L          = (0x10)
GYRO_Z_H          = (0x11)
ACCEL_X_L         = (0x12)
ACCEL_X_H         = (0x13)
ACCEL_Y_L         = (0x14)
ACCEL_Y_H         = (0x15)
ACCEL_Z_L         = (0x16)
ACCEL_Z_H         = (0x17)
STATUS            = (0x1B)
INT_STATUS_0      = (0x1C)
INT_STATUS_1      = (0x1D)
INT_STATUS_2      = (0x1E)
INT_STATUS_3      = (0x1F)
TEMP_L            = (0x20)
TEMP_H            = (0x21)
FIFO_LENGTH_0     = (0x22)
FIFO_LENGTH_1     = (0x23)
FIFO_DATA         = (0x24)
ACCEL_CONF        = (0X40)
ACCEL_RANGE       = (0X41)
GYRO_CONF         = (0X42)
GYRO_RANGE        = (0X43)
FIFO_CONFIG_0     = (0x46)
FIFO_CONFIG_1     = (0x47)
INT_EN_0          = (0x50)
INT_EN_1          = (0x51)
INT_EN_2          = (0x52)
INT_OUT_CTRL      = (0x53)
INT_LATCH         = (0x54)
INT_MAP_0         = (0x55)
INT_MAP_1         = (0x56)
INT_MAP_2         = (0x57)
INT_LOWHIGH_0     = (0x5A)
INT_LOWHIGH_1     = (0x5B)
INT_LOWHIGH_2     = (0x5C)
INT_LOWHIGH_3     = (0x5D)
INT_LOWHIGH_4     = (0x5E)
INT_MOTION_0      = (0x5F)
INT_MOTION_1      = (0x60)
INT_MOTION_2      = (0x61)
INT_MOTION_3      = (0x62)
INT_TAP_0         = (0x63)
INT_TAP_1         = (0x64)
FOC_CONF          = (0x69)
OFFSET_0          = (0x71)
OFFSET_1          = (0x72)
OFFSET_2          = (0x73)
OFFSET_3          = (0x74)
OFFSET_4          = (0x75)
OFFSET_5          = (0x76)
OFFSET_6          = (0x77)
STEP_CNT_L        = (0x78)
STEP_CNT_H        = (0x79)
STEP_CONF_0       = (0x7A)
STEP_CONF_1       = (0x7B)
STEP_CONF_0_NOR   = (0x15)
STEP_CONF_0_SEN   = (0x2D)
STEP_CONF_0_ROB   = (0x1D)
STEP_CONF_1_NOR   = (0x03)
STEP_CONF_1_SEN   = (0x00)
STEP_CONF_1_ROB   = (0x07)
CMD               = (0x7E)