X-Git-Url: https://git.gag.com/?a=blobdiff_plain;ds=sidebyside;f=src%2Fdrivers%2Fao_mpu6000.h;h=5c0cee1b1184e02dcfdcf340e815ae3f4a75cac5;hb=c6eec0bec06d2e246ea3c9552818ad3180c1e318;hp=5e52148d396f6511a647374601d1ca9586335d68;hpb=0239e4dfe587528524b6380bbf6d9583047e52d6;p=fw%2Faltos diff --git a/src/drivers/ao_mpu6000.h b/src/drivers/ao_mpu6000.h index 5e52148d..5c0cee1b 100644 --- a/src/drivers/ao_mpu6000.h +++ b/src/drivers/ao_mpu6000.h @@ -145,6 +145,9 @@ /* 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; @@ -155,8 +158,6 @@ struct ao_mpu6000_sample { int16_t gyro_z; }; -extern struct ao_mpu6000_sample ao_mpu6000_current; - void ao_mpu6000_init(void);