notes.txt

slave address: 110101xb (where x represents hi/lo value of SDO/SA0 pin)
				(7 bit address)

OIS = optical image stablization
ODR = operating data rate??? idk. it refers to how often it is sampling

see page 53

Accelerometer registers:
	CTRL1_XL (10h) (page 51) // accel scale and other settings
	CTRL6_C (15h) // accel perf mode
	CTRL8_XL (17h) // filter stuff
	OUTX_L_A (28h), OUTX_H_A (29h) // x axis acceleration
	OUTY_L_A (2Ah), OUTY_H_A (2Bh) // y axis acceleration
	OUTZ_L_A (2Ch), OUTZ_H_A (2Dh) // z axis acceleration
	X_OFS_USR (73h), Y_OFS_USR (74h), Z_OFS_USR (75h) // xyz axis acceleration correction

Gyro registers:
	CTRL2_G (11h) (page 52)
	CTRL4_C (13h)
	CTRL5_C (14h) // self test stuff
	CTRL6_C (15h) // gyro low pass filter
	CTRL7_G (16h) // high pass filter? and perf mode
	OUTX_L_G (22h), OUTX_H_G (23h) // x axis angular rate
	OUTY_L_G (24h), OUTY_H_G (25h) // y axis angular rate
	OUTZ_L_G (26h), OUTZ_H_G (27h) // z axis angular rate

other r/w registers:
	CTRL9_XL (18h) // dis/enable i3c (not i2c) RECOMAENDED TO DISABLE!!!
	CTRL10_C (19h) // timestamp dis/enable (see registers 40h-43h)

important read only registers:
	STATUS_REG (1Eh) // info about if new temp/accel/gyro data avalible
	OUT_TEMP_L (20h), OUT_TEMP_H (21h) // two’s complement sign extended on the MSB.
	TIMESTAMP0 (40h) ... TIMESTAMP3 (43h) // 1 = 25 microseconds (see note on page 73)

maybe important registers:
	S4S_TPH_L (04h)
	INTERNAL_FREQ_FINE (63h) // something about ODR

important defaults:
	XL_HM_MODE = 0 (in 15h) // accel default to hi perf mode
	G_HM_MODE = 0 (in 16h) // gyro default to hi perf mode
	ODR_XL[3:0] = 0000 (in 10h) // accel powered down
	ODR_G[3:0] = 0000 (in 11h) // gyro powered down
	I3C_disable = 0 // i3c default enabled
	TIMESTAMP_EN = 0 // timestamping disabled