diff --git a/src/constants.rs b/src/constants.rs
index 63a0464..b89257d 100644
--- a/src/constants.rs
+++ b/src/constants.rs
@@ -1,4 +1,8 @@
+//! All constants used in the driver, mostly register addresses
+
+/// Slave address of Mpu6050
 pub const SLAVE_ADDR: u8 = 0x68;
+/// Internal register to check slave addr
 pub const WHOAMI: u8 = 0x75;
 
 /// High Bytle Register Gyro x orientation
@@ -28,19 +32,11 @@ pub const FS_SEL: (f32, f32, f32, f32) = (131., 65.5, 32.8, 16.4);
 /// Calcelerometer Sensitivity
 pub const AFS_SEL: (f32, f32, f32, f32) = (16384., 8192., 4096., 2048.);
 
-pub const PI: f32 = 3.14159;
-
-pub const GRAVITIY_MS2: f32 = 9.80665;
-
-pub const ACCEL_RANGE_2G: u8 = 0x00;
-pub const ACCEL_RANGE_4G: u8 = 0x08;
-pub const ACCEL_RANGE_8G: u8 = 0x10;
-pub const ACCEL_RANGE_16G: u8 = 0x18;
-
-pub const GYRO_RANGE_250DEG: u8 = 0x00;
-pub const GYRO_RANGE_500DEG: u8 = 0x08;
-pub const GYRO_RANGE_1000DEG: u8 = 0x10;
-pub const GYRO_RANGE_2000DEG: u8 = 0x18;
-
+/// Accelerometer config register
 pub const ACCEL_CONFIG: u8  = 0x1c;
+
+/// gyro config register
 pub const GYRO_CONFIG: u8 = 0x1b;
+
+/// pi
+pub const PI: f32 = 3.14159;
diff --git a/src/lib.rs b/src/lib.rs
index d4e1054..9634db7 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -1,11 +1,11 @@
 #![no_std]
 
+pub mod constants;
+
 ///! Mpu6050 sensor driver.
 ///! Register sheet: https://www.invensense.com/wp-content/uploads/2015/02/MPU-6000-Register-Map1.pdf
 ///! Data sheet: https://www.invensense.com/wp-content/uploads/2015/02/MPU-6500-Datasheet2.pdf 
 
-pub mod constants;
-
 use crate::constants::*;
 use libm::{powf, atan2f, sqrtf};
 use embedded_hal::{
@@ -45,10 +45,10 @@ impl Bias {
     }
 }
 
-/// Helper struct to convert Sensor measurement range to appropriate values defined in datasheet
+// Helper struct to convert Sensor measurement range to appropriate values defined in datasheet
 struct Sensitivity(f32);
 
-/// Converts accelerometer range to correction/scaling factor, see table p. 29 or register sheet
+// Converts accelerometer range to correction/scaling factor, see table p. 29 or register sheet
 impl From<AccelRange> for Sensitivity {
     fn from(range: AccelRange) -> Sensitivity {
         match range {
@@ -60,7 +60,7 @@ impl From<AccelRange> for Sensitivity {
     }
 }
 
-/// Converts gyro range to correction/scaling factor, see table p. 31 or register sheet
+// Converts gyro range to correction/scaling factor, see table p. 31 or register sheet
 impl From<GyroRange> for Sensitivity {
     fn from(range: GyroRange) -> Sensitivity {
         match range {
@@ -72,7 +72,7 @@ impl From<GyroRange> for Sensitivity {
     }
 }
 
-/// defines accelerometer range/sensivity
+/// Defines accelerometer range/sensivity
 pub enum AccelRange {
     G2,
     G4,
@@ -80,7 +80,7 @@ pub enum AccelRange {
     G16,
 }
 
-/// defines gyro range/sensitivity
+/// Defines gyro range/sensitivity
 pub enum GyroRange {
     DEG250,
     DEG500,