X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fdrivers%2Fao_mpu6000.h;h=6aada9a927b9ac8da07165667fdab817cfb3b951;hb=defd5d0784a754be30e3295067fbc85a108ad172;hp=ca76b08128ddc3888cb611f30a295b5f9cbdd6bc;hpb=b635cb26ba54c8f5c6a958e0ab0bc4d34d33b635;p=fw%2Faltos

diff --git a/src/drivers/ao_mpu6000.h b/src/drivers/ao_mpu6000.h
index ca76b081..6aada9a9 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;
@@ -155,6 +158,8 @@ struct ao_mpu6000_sample {
 	int16_t		gyro_z;
 };
 
+extern struct ao_mpu6000_sample	ao_mpu6000_current;
+
 void
 ao_mpu6000_init(void);