# Author: Dr. Konstantin Selyunin
# Version: v0.1
# Date: 2020.05.29

print(f"\\n========== CONFIG REGISTERS ===================================")
print(f"creg_com_settings             : {um7.creg_com_settings}")
print(f"creg_com_rates1               : {um7.creg_com_rates1}")
print(f"creg_com_rates2               : {um7.creg_com_rates2}")
print(f"creg_com_rates3               : {um7.creg_com_rates3}")
print(f"creg_com_rates4               : {um7.creg_com_rates4}")
print(f"creg_com_rates5               : {um7.creg_com_rates5}")
print(f"creg_com_rates6               : {um7.creg_com_rates6}")
print(f"creg_com_rates7               : {um7.creg_com_rates7}")
print(f"creg_misc_settings            : {um7.creg_misc_settings}")
print(f"creg_home_north               : {um7.creg_home_north}")
print(f"creg_home_east                : {um7.creg_home_east}")
print(f"creg_home_up                  : {um7.creg_home_up}")
print(f"creg_gyro_trim_x              : {um7.creg_gyro_trim_x}")
print(f"creg_gyro_trim_y              : {um7.creg_gyro_trim_y}")
print(f"creg_gyro_trim_z              : {um7.creg_gyro_trim_z}")
print(f"creg_mag_cal1_1               : {um7.creg_mag_cal1_1}")
print(f"creg_mag_1_cal1_2             : {um7.creg_mag_1_cal1_2}")
print(f"creg_mag_cal1_3               : {um7.creg_mag_cal1_3}")
print(f"creg_mag_cal2_1               : {um7.creg_mag_cal2_1}")
print(f"creg_mag_cal2_2               : {um7.creg_mag_cal2_2}")
print(f"creg_mag_cal2_3               : {um7.creg_mag_cal2_3}")
print(f"creg_mag_cal3_1               : {um7.creg_mag_cal3_1}")
print(f"creg_mag_cal3_2               : {um7.creg_mag_cal3_2}")
print(f"creg_mag_cal3_3               : {um7.creg_mag_cal3_3}")
print(f"creg_mag_bias_x               : {um7.creg_mag_bias_x}")
print(f"creg_mag_1_bias_y             : {um7.creg_mag_1_bias_y}")
print(f"creg_mag_bias_z               : {um7.creg_mag_bias_z}")
print(f"creg_accel_cal1_1             : {um7.creg_accel_cal1_1}")
print(f"creg_accel_cal1_2             : {um7.creg_accel_cal1_2}")
print(f"creg_accel_cal1_3             : {um7.creg_accel_cal1_3}")
print(f"creg_accel_cal2_1             : {um7.creg_accel_cal2_1}")
print(f"creg_accel_cal2_2             : {um7.creg_accel_cal2_2}")
print(f"creg_accel_cal2_3             : {um7.creg_accel_cal2_3}")
print(f"creg_accel_cal3_1             : {um7.creg_accel_cal3_1}")
print(f"creg_accel_cal3_2             : {um7.creg_accel_cal3_2}")
print(f"creg_accel_cal3_3             : {um7.creg_accel_cal3_3}")
print(f"creg_accel_bias_x             : {um7.creg_accel_bias_x}")
print(f"creg_accel_bias_y             : {um7.creg_accel_bias_y}")
print(f"creg_accel_bias_z             : {um7.creg_accel_bias_z}")


print(f"\\n========== DATA REGISTERS ===================================")
print(f"dreg_health                   : {um7.dreg_health}")
print(f"dreg_gyro_raw_xy              : {um7.dreg_gyro_raw_xy}")
print(f"dreg_gyro_raw_z               : {um7.dreg_gyro_raw_z}")
print(f"dreg_gyro_raw_time            : {um7.dreg_gyro_raw_time}")
print(f"dreg_accel_raw_xy             : {um7.dreg_accel_raw_xy}")
print(f"dreg_accel_raw_z              : {um7.dreg_accel_raw_z}")
print(f"dreg_accel_raw_time           : {um7.dreg_accel_raw_time}")
print(f"dreg_mag_raw_xy               : {um7.dreg_mag_raw_xy}")
print(f"dreg_mag_raw_z                : {um7.dreg_mag_raw_z}")
print(f"dreg_mag_raw_time             : {um7.dreg_mag_raw_time}")
print(f"dreg_temperature              : {um7.dreg_temperature}")
print(f"dreg_temperature_time         : {um7.dreg_temperature_time}")
print(f"dreg_gyro_proc_x              : {um7.dreg_gyro_proc_x}")
print(f"dreg_gyro_proc_y              : {um7.dreg_gyro_proc_y}")
print(f"dreg_gyro_proc_z              : {um7.dreg_gyro_proc_z}")
print(f"dreg_gyro_proc_time           : {um7.dreg_gyro_proc_time}")
print(f"dreg_accel_proc_x             : {um7.dreg_accel_proc_x}")
print(f"dreg_accel_proc_y             : {um7.dreg_accel_proc_y}")
print(f"dreg_accel_proc_z             : {um7.dreg_accel_proc_z}")
print(f"dreg_accel_proc_time          : {um7.dreg_accel_proc_time}")
print(f"dreg_mag_proc_x               : {um7.dreg_mag_proc_x}")
print(f"dreg_mag_proc_y               : {um7.dreg_mag_proc_y}")
print(f"dreg_mag_proc_z               : {um7.dreg_mag_proc_z}")
print(f"dreg_mag_proc_time            : {um7.dreg_mag_proc_time}")
print(f"dreg_quat_ab                  : {um7.dreg_quat_ab}")
print(f"dreg_quat_cd                  : {um7.dreg_quat_cd}")
print(f"dreg_quat_time                : {um7.dreg_quat_time}")
print(f"dreg_euler_phi_theta          : {um7.dreg_euler_phi_theta}")
print(f"dreg_euler_psi                : {um7.dreg_euler_psi}")
print(f"dreg_euler_phi_theta_dot      : {um7.dreg_euler_phi_theta_dot}")
print(f"dreg_euler_psi_dot            : {um7.dreg_euler_psi_dot}")
print(f"dreg_euler_time               : {um7.dreg_euler_time}")
print(f"dreg_position_north           : {um7.dreg_position_north}")
print(f"dreg_position_east            : {um7.dreg_position_east}")
print(f"dreg_position_up              : {um7.dreg_position_up}")
print(f"dreg_position_time            : {um7.dreg_position_time}")
print(f"dreg_velocity_north           : {um7.dreg_velocity_north}")
print(f"dreg_velocity_east            : {um7.dreg_velocity_east}")
print(f"dreg_velocity_up              : {um7.dreg_velocity_up}")
print(f"dreg_velocity_time            : {um7.dreg_velocity_time}")
print(f"dreg_gps_latitude             : {um7.dreg_gps_latitude}")
print(f"dreg_gps_longitude            : {um7.dreg_gps_longitude}")
print(f"dreg_gps_altitude             : {um7.dreg_gps_altitude}")
print(f"dreg_gps_course               : {um7.dreg_gps_course}")
print(f"dreg_gps_speed                : {um7.dreg_gps_speed}")
print(f"dreg_gps_time                 : {um7.dreg_gps_time}")
print(f"dreg_gps_sat_1_2              : {um7.dreg_gps_sat_1_2}")
print(f"dreg_gps_sat_3_4              : {um7.dreg_gps_sat_3_4}")
print(f"dreg_gps_sat_5_6              : {um7.dreg_gps_sat_5_6}")
print(f"dreg_gps_sat_7_8              : {um7.dreg_gps_sat_7_8}")
print(f"dreg_gps_sat_9_10             : {um7.dreg_gps_sat_9_10}")
print(f"dreg_gps_sat_11_12            : {um7.dreg_gps_sat_11_12}")
print(f"dreg_gyro_bias_x              : {um7.dreg_gyro_bias_x}")
print(f"dreg_gyro_bias_y              : {um7.dreg_gyro_bias_y}")
print(f"dreg_gyro_bias_z              : {um7.dreg_gyro_bias_z}")


print(f"\\n========== COMMAND REGISTERS ===================================")
print(f"get_fw_revision               : {um7.get_fw_revision}")
print(f"flash_commit                  : {um7.flash_commit}")
print(f"reset_to_factory              : {um7.reset_to_factory}")
print(f"zero_gyros                    : {um7.zero_gyros}")
print(f"set_home_position             : {um7.set_home_position}")
print(f"set_mag_reference             : {um7.set_mag_reference}")
print(f"calibrate_accelerometers      : {um7.calibrate_accelerometers}")
print(f"reset_ekf                     : {um7.reset_ekf}")
