From dda1e4cf280ed5e842e1e571e92e5468cdab3be9 Mon Sep 17 00:00:00 2001
From: Andy Killorin <37423245+Speedy6451@users.noreply.github.com>
Date: Fri, 14 Mar 2025 09:32:47 -0400
Subject: [PATCH] added some registers

---
 src/lib.rs       |  2 ++
 src/registers.rs | 39 +++++++++++++++++++++++++++++++++++++++
 2 files changed, 41 insertions(+)
 create mode 100644 src/registers.rs

diff --git a/src/lib.rs b/src/lib.rs
index 8dc00eb..d94d171 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -9,6 +9,8 @@ const DELTA_ANGLE_RANGE: f32 = 720.;
 #[cfg(feature = "ADIS1647x-3")]
 const DELTA_ANGLE_RANGE: f32 = 2160.;
 
+pub mod registers;
+
 pub struct ADIS16475<T> where T: SpiBus {
     bus: T,
 }
diff --git a/src/registers.rs b/src/registers.rs
new file mode 100644
index 0000000..ec808d8
--- /dev/null
+++ b/src/registers.rs
@@ -0,0 +1,39 @@
+//! register map, more information in Table 8 of the
+//! [datasheet](https://wiki.analog.com/resources/eval/user-guides/inertial-mems/imu/adis1647x-pcb?doc=adis16475.pdf#%5B%7B%22num%22%3A92%2C%22gen%22%3A0%7D%2C%7B%22name%22%3A%22XYZ%22%7D%2C52%2C693%2C0%5D)
+
+/// u16: Output, system error flags
+pub const DIAG_STAT: u8 = 0x02;
+
+pub const X_GYRO: u8 = 0x04;
+pub const Y_GYRO: u8 = 0x08;
+pub const Z_GYRO: u8 = 0x0C;
+
+pub const X_ACCL: u8 = 0x10;
+pub const Y_ACCL: u8 = 0x14;
+pub const Z_ACCL: u8 = 0x18;
+
+/// u16
+pub const TEMP: u8 = 0x1C;
+
+pub const X_DELTANG: u8 = 0x24;
+pub const Y_DELTANG: u8 = 0x28;
+pub const Z_DELTANG: u8 = 0x2C;
+
+pub const X_DELTVEL: u8 = 0x30;
+pub const Y_DELTVEL: u8 = 0x34;
+pub const Z_DELTVEL: u8 = 0x38;
+
+/// u16: Control, Bartlett window FIR filter
+pub const FLIT_CTRL: u8 = 0x5C;
+/// u16: Measurement range (model specific) identifier
+pub const RANG_MDL: u8 = 0x5E;
+/// u16: Control, input/output and other miscellaneous options
+pub const MSC_CTRL: u8 = 0x60;
+/// u16: Control, scale factor for input clock, pulse per second (PPS) mode
+pub const UP_SCALE: u8 = 0x62;
+/// u16: Control, decimation filter (output data rate)
+pub const DEC_RATE: u8 = 0x64;
+/// u16: Control, bias estimation period
+pub const NULL_CNFG: u8 = 0x66;
+/// u16: Control, global commands
+pub const GLOB_CMD: u8 = 0x68;