#ifndef _AO_MPU6000_H_
#define _AO_MPU6000_H_
+#ifndef M_PI
+#define M_PI 3.1415926535897832384626433
+#endif
+
#define MPU6000_ADDR_WRITE 0xd0
#define MPU6000_ADDR_READ 0xd1
/* 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_GYRO_FULLSCALE ((float) 2000 * M_PI/180.0)
+
+static inline float
+ao_mpu6000_gyro(float sensor) {
+ return sensor * ((float) (MPU6000_GYRO_FULLSCALE / 32767.0));
+}
+
#define MPU6000_ACCEL_FULLSCALE 16
+static inline float
+ao_mpu6000_accel(int16_t sensor) {
+ return (float) sensor * ((float) (MPU6000_ACCEL_FULLSCALE * GRAVITY / 32767.0));
+}
+
struct ao_mpu6000_sample {
int16_t accel_x;
int16_t accel_y;