/* Self test gyro is approximately 50°/s */
#define MPU6000_ST_GYRO(full_scale) ((int16_t) (((int32_t) 32767 * (int32_t) 50) / (full_scale)))
+#define MPU6000_GYRO_FULLSCALE 2000
+#define MPU6000_ACCEL_FULLSCALE 16
+
struct ao_mpu6000_sample {
int16_t accel_x;
int16_t accel_y;
int16_t gyro_z;
};
-extern struct ao_mpu6000_sample ao_mpu6000_current;
+extern struct ao_mpu6000_sample ao_mpu6000_current;
void
ao_mpu6000_init(void);