Copied directly from the UM6_config.h file, available online here: http://sourceforge.net/p/um6firmware/code/34/tree/trunk/UM6%20Firmware/UM6_config.h#l14. More...

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Defines
#define	COMMAND_COUNT 10
#define	COMMAND_START_ADDRESS 170
#define	CONFIG_ARRAY_SIZE 59
#define	CONFIG_REG_START_ADDRESS 0
#define	DATA_ARRAY_SIZE 48
#define	DATA_REG_START_ADDRESS 85
#define	UM6_ACCEL_BIAS_XY (CONFIG_REG_START_ADDRESS + 13)
#define	UM6_ACCEL_BIAS_Z (CONFIG_REG_START_ADDRESS + 14)
#define	UM6_ACCEL_CAL_00 (CONFIG_REG_START_ADDRESS + 17)
#define	UM6_ACCEL_CAL_01 (CONFIG_REG_START_ADDRESS + 18)
#define	UM6_ACCEL_CAL_02 (CONFIG_REG_START_ADDRESS + 19)
#define	UM6_ACCEL_CAL_10 (CONFIG_REG_START_ADDRESS + 20)
#define	UM6_ACCEL_CAL_11 (CONFIG_REG_START_ADDRESS + 21)
#define	UM6_ACCEL_CAL_12 (CONFIG_REG_START_ADDRESS + 22)
#define	UM6_ACCEL_CAL_20 (CONFIG_REG_START_ADDRESS + 23)
#define	UM6_ACCEL_CAL_21 (CONFIG_REG_START_ADDRESS + 24)
#define	UM6_ACCEL_CAL_22 (CONFIG_REG_START_ADDRESS + 25)
#define	UM6_ACCEL_INIT_FAILED (1 << 30)
#define	UM6_ACCEL_PROC_XY (DATA_REG_START_ADDRESS + 9)
#define	UM6_ACCEL_PROC_Z (DATA_REG_START_ADDRESS + 10)
#define	UM6_ACCEL_RAW_XY (DATA_REG_START_ADDRESS + 3)
#define	UM6_ACCEL_RAW_Z (DATA_REG_START_ADDRESS + 4)
#define	UM6_ACCEL_REF_X (CONFIG_REG_START_ADDRESS + 5)
#define	UM6_ACCEL_REF_Y (CONFIG_REG_START_ADDRESS + 6)
#define	UM6_ACCEL_REF_Z (CONFIG_REG_START_ADDRESS + 7)
#define	UM6_ACCEL_ST_FAILED_X (1 << 25)
#define	UM6_ACCEL_ST_FAILED_Y (1 << 24)
#define	UM6_ACCEL_ST_FAILED_Z (1 << 23)
#define	UM6_ACCEL_UNRESPONSIVE (1 << 14)
#define	UM6_ACCEL_UPDATE_ENABLED (1 << 30)
#define	UM6_ACCELS_PROC_ENABLED (1 << 25)
#define	UM6_ACCELS_RAW_ENABLED (1 << 28)
#define	UM6_BAD_CHECKSUM 253
#define	UM6_BAUD_RATE_MASK (0x07)
#define	UM6_BAUD_START_BIT 8
#define	UM6_BROADCAST_ENABLED (1 << 30)
#define	UM6_COMMUNICATION CONFIG_REG_START_ADDRESS
#define	UM6_COV_ENABLED (1 << 21)
#define	UM6_EKF_ACCEL_VARIANCE (CONFIG_REG_START_ADDRESS + 9)
#define	UM6_EKF_DIVERGENT (1 << 16)
#define	UM6_EKF_MAG_VARIANCE (CONFIG_REG_START_ADDRESS + 8)
#define	UM6_EKF_PROCESS_VARIANCE (CONFIG_REG_START_ADDRESS + 10)
#define	UM6_ERROR_COV_00 (DATA_REG_START_ADDRESS + 17)
#define	UM6_ERROR_COV_01 (DATA_REG_START_ADDRESS + 18)
#define	UM6_ERROR_COV_02 (DATA_REG_START_ADDRESS + 19)
#define	UM6_ERROR_COV_03 (DATA_REG_START_ADDRESS + 20)
#define	UM6_ERROR_COV_10 (DATA_REG_START_ADDRESS + 21)
#define	UM6_ERROR_COV_11 (DATA_REG_START_ADDRESS + 22)
#define	UM6_ERROR_COV_12 (DATA_REG_START_ADDRESS + 23)
#define	UM6_ERROR_COV_13 (DATA_REG_START_ADDRESS + 24)
#define	UM6_ERROR_COV_20 (DATA_REG_START_ADDRESS + 25)
#define	UM6_ERROR_COV_21 (DATA_REG_START_ADDRESS + 26)
#define	UM6_ERROR_COV_22 (DATA_REG_START_ADDRESS + 27)
#define	UM6_ERROR_COV_23 (DATA_REG_START_ADDRESS + 28)
#define	UM6_ERROR_COV_30 (DATA_REG_START_ADDRESS + 29)
#define	UM6_ERROR_COV_31 (DATA_REG_START_ADDRESS + 30)
#define	UM6_ERROR_COV_32 (DATA_REG_START_ADDRESS + 31)
#define	UM6_ERROR_COV_33 (DATA_REG_START_ADDRESS + 32)
#define	UM6_EULER_ENABLED (1 << 22)
#define	UM6_EULER_PHI_THETA (DATA_REG_START_ADDRESS + 13)
#define	UM6_EULER_PSI (DATA_REG_START_ADDRESS + 14)
#define	UM6_FIRMWARE_REVISION (('U' << 24) \| ('M' << 16) \| ('2' << 8) \| 'B')
#define	UM6_FLASH_COMMIT (COMMAND_START_ADDRESS + 1)
#define	UM6_FLASH_WRITE_FAILED (1 << 12)
#define	UM6_GET_DATA (COMMAND_START_ADDRESS + 4)
#define	UM6_GET_FW_VERSION COMMAND_START_ADDRESS
#define	UM6_GPS_ALTITUDE (DATA_REG_START_ADDRESS + 36)
#define	UM6_GPS_BAUD_RATE_MASK (0x07)
#define	UM6_GPS_BAUD_START_BIT 11
#define	UM6_GPS_COURSE_SPEED (DATA_REG_START_ADDRESS + 40)
#define	UM6_GPS_COURSE_SPEED_ENABLED (1 << 17)
#define	UM6_GPS_HDOP_MASK 0x03FF
#define	UM6_GPS_HDOP_START_BIT 16
#define	UM6_GPS_HOME_ALTITUDE (CONFIG_REG_START_ADDRESS + 58)
#define	UM6_GPS_HOME_LAT (CONFIG_REG_START_ADDRESS + 56)
#define	UM6_GPS_HOME_LONG (CONFIG_REG_START_ADDRESS + 57)
#define	UM6_GPS_LATITUDE (DATA_REG_START_ADDRESS + 35)
#define	UM6_GPS_LONGITUDE (DATA_REG_START_ADDRESS + 34)
#define	UM6_GPS_MODE_MASK 0x03
#define	UM6_GPS_MODE_START_BIT 30
#define	UM6_GPS_POSITION_E (DATA_REG_START_ADDRESS + 38)
#define	UM6_GPS_POSITION_ENABLED (1 << 19)
#define	UM6_GPS_POSITION_H (DATA_REG_START_ADDRESS + 39)
#define	UM6_GPS_POSITION_N (DATA_REG_START_ADDRESS + 37)
#define	UM6_GPS_REL_POSITION_ENABLED (1 << 18)
#define	UM6_GPS_SAT_11_12 (DATA_REG_START_ADDRESS + 47)
#define	UM6_GPS_SAT_1_2 (DATA_REG_START_ADDRESS + 42)
#define	UM6_GPS_SAT_3_4 (DATA_REG_START_ADDRESS + 43)
#define	UM6_GPS_SAT_5_6 (DATA_REG_START_ADDRESS + 44)
#define	UM6_GPS_SAT_7_8 (DATA_REG_START_ADDRESS + 45)
#define	UM6_GPS_SAT_9_10 (DATA_REG_START_ADDRESS + 46)
#define	UM6_GPS_SAT_COUNT_MASK 0x0F
#define	UM6_GPS_SAT_COUNT_START_BIT 26
#define	UM6_GPS_SAT_DATA_ENABLED (1 << 15)
#define	UM6_GPS_SAT_SUMMARY (DATA_REG_START_ADDRESS + 41)
#define	UM6_GPS_SAT_SUMMARY_ENABLED (1 << 16)
#define	UM6_GPS_VDOP_MASK 0x03FF
#define	UM6_GPS_VDOP_START_BIT 6
#define	UM6_GYRO_BIAS_XY (CONFIG_REG_START_ADDRESS + 11)
#define	UM6_GYRO_BIAS_Z (CONFIG_REG_START_ADDRESS + 12)
#define	UM6_GYRO_CAL_00 (CONFIG_REG_START_ADDRESS + 26)
#define	UM6_GYRO_CAL_01 (CONFIG_REG_START_ADDRESS + 27)
#define	UM6_GYRO_CAL_02 (CONFIG_REG_START_ADDRESS + 28)
#define	UM6_GYRO_CAL_10 (CONFIG_REG_START_ADDRESS + 29)
#define	UM6_GYRO_CAL_11 (CONFIG_REG_START_ADDRESS + 30)
#define	UM6_GYRO_CAL_12 (CONFIG_REG_START_ADDRESS + 31)
#define	UM6_GYRO_CAL_20 (CONFIG_REG_START_ADDRESS + 32)
#define	UM6_GYRO_CAL_21 (CONFIG_REG_START_ADDRESS + 33)
#define	UM6_GYRO_CAL_22 (CONFIG_REG_START_ADDRESS + 34)
#define	UM6_GYRO_INIT_FAILED (1 << 29)
#define	UM6_GYRO_PROC_XY (DATA_REG_START_ADDRESS + 7)
#define	UM6_GYRO_PROC_Z (DATA_REG_START_ADDRESS + 8)
#define	UM6_GYRO_RAW_XY (DATA_REG_START_ADDRESS + 1)
#define	UM6_GYRO_RAW_Z (DATA_REG_START_ADDRESS + 2)
#define	UM6_GYRO_ST_FAILED_X (1 << 28)
#define	UM6_GYRO_ST_FAILED_Y (1 << 27)
#define	UM6_GYRO_ST_FAILED_Z (1 << 26)
#define	UM6_GYRO_STARTUP_CAL (1 << 29)
#define	UM6_GYRO_UNRESPONSIVE (1 << 15)
#define	UM6_GYROS_PROC_ENABLED (1 << 26)
#define	UM6_GYROS_RAW_ENABLED (1 << 29)
#define	UM6_GYROX_BIAS_0 (CONFIG_REG_START_ADDRESS + 44)
#define	UM6_GYROX_BIAS_1 (CONFIG_REG_START_ADDRESS + 45)
#define	UM6_GYROX_BIAS_2 (CONFIG_REG_START_ADDRESS + 46)
#define	UM6_GYROX_BIAS_3 (CONFIG_REG_START_ADDRESS + 47)
#define	UM6_GYROY_BIAS_0 (CONFIG_REG_START_ADDRESS + 48)
#define	UM6_GYROY_BIAS_1 (CONFIG_REG_START_ADDRESS + 49)
#define	UM6_GYROY_BIAS_2 (CONFIG_REG_START_ADDRESS + 50)
#define	UM6_GYROY_BIAS_3 (CONFIG_REG_START_ADDRESS + 51)
#define	UM6_GYROZ_BIAS_0 (CONFIG_REG_START_ADDRESS + 52)
#define	UM6_GYROZ_BIAS_1 (CONFIG_REG_START_ADDRESS + 53)
#define	UM6_GYROZ_BIAS_2 (CONFIG_REG_START_ADDRESS + 54)
#define	UM6_GYROZ_BIAS_3 (CONFIG_REG_START_ADDRESS + 55)
#define	UM6_I2C_ACCEL_BUS_ERROR (1 << 18)
#define	UM6_I2C_GYRO_BUS_ERROR (1 << 19)
#define	UM6_I2C_MAG_BUS_ERROR (1 << 17)
#define	UM6_INVALID_BATCH_SIZE 255
#define	UM6_MAG_BIAS_XY (CONFIG_REG_START_ADDRESS + 15)
#define	UM6_MAG_BIAS_Z (CONFIG_REG_START_ADDRESS + 16)
#define	UM6_MAG_CAL_00 (CONFIG_REG_START_ADDRESS + 35)
#define	UM6_MAG_CAL_01 (CONFIG_REG_START_ADDRESS + 36)
#define	UM6_MAG_CAL_02 (CONFIG_REG_START_ADDRESS + 37)
#define	UM6_MAG_CAL_10 (CONFIG_REG_START_ADDRESS + 38)
#define	UM6_MAG_CAL_11 (CONFIG_REG_START_ADDRESS + 39)
#define	UM6_MAG_CAL_12 (CONFIG_REG_START_ADDRESS + 40)
#define	UM6_MAG_CAL_20 (CONFIG_REG_START_ADDRESS + 41)
#define	UM6_MAG_CAL_21 (CONFIG_REG_START_ADDRESS + 42)
#define	UM6_MAG_CAL_22 (CONFIG_REG_START_ADDRESS + 43)
#define	UM6_MAG_INIT_FAILED (1 << 31)
#define	UM6_MAG_PROC_ENABLED (1 << 24)
#define	UM6_MAG_PROC_XY (DATA_REG_START_ADDRESS + 11)
#define	UM6_MAG_PROC_Z (DATA_REG_START_ADDRESS + 12)
#define	UM6_MAG_RAW_ENABLED (1 << 27)
#define	UM6_MAG_RAW_XY (DATA_REG_START_ADDRESS + 5)
#define	UM6_MAG_RAW_Z (DATA_REG_START_ADDRESS + 6)
#define	UM6_MAG_REF_X (CONFIG_REG_START_ADDRESS + 2)
#define	UM6_MAG_REF_Y (CONFIG_REG_START_ADDRESS + 3)
#define	UM6_MAG_REF_Z (CONFIG_REG_START_ADDRESS + 4)
#define	UM6_MAG_ST_FAILED_X (1 << 22)
#define	UM6_MAG_ST_FAILED_Y (1 << 21)
#define	UM6_MAG_ST_FAILED_Z (1 << 20)
#define	UM6_MAG_UNRESPONSIVE (1 << 13)
#define	UM6_MAG_UPDATE_ENABLED (1 << 31)
#define	UM6_MISC_CONFIG (CONFIG_REG_START_ADDRESS + 1)
#define	UM6_QUAT_AB (DATA_REG_START_ADDRESS + 15)
#define	UM6_QUAT_CD (DATA_REG_START_ADDRESS + 16)
#define	UM6_QUAT_ENABLED (1 << 23)
#define	UM6_QUAT_ESTIMATE_ENABLED (1 << 28)
#define	UM6_RESET_EKF (COMMAND_START_ADDRESS + 3)
#define	UM6_RESET_TO_FACTORY (COMMAND_START_ADDRESS + 7)
#define	UM6_SAVE_FACTORY (COMMAND_START_ADDRESS + 8)
#define	UM6_SELF_TEST_COMPLETE (1 << 0)
#define	UM6_SERIAL_RATE_MASK (0x000FF)
#define	UM6_SET_ACCEL_REF (COMMAND_START_ADDRESS + 5)
#define	UM6_SET_HOME_POSITION (COMMAND_START_ADDRESS + 9)
#define	UM6_SET_MAG_REF (COMMAND_START_ADDRESS + 6)
#define	UM6_STATUS DATA_REG_START_ADDRESS
#define	UM6_TEMPERATURE (DATA_REG_START_ADDRESS + 33)
#define	UM6_TEMPERATURE_ENABLED (1 << 20)
#define	UM6_UNKNOWN_ADDRESS 254
#define	UM6_USE_CONFIG_ADDRESS 0
#define	UM6_USE_FACTORY_ADDRESS 1
#define	UM6_ZERO_GYROS (COMMAND_START_ADDRESS + 2)