altos: Integrate BMX160 into data code

[fw/altos] / src / drivers / ao_bmx160.h

diff --git a/src/drivers/ao_bmx160.h b/src/drivers/ao_bmx160.h
index 265be995d3952fd081e939ff864145f967bf1727..2b7e7bd768c27caaf51e88af3372a3688024d4ea 100644 (file)
--- a/src/drivers/ao_bmx160.h
+++ b/src/drivers/ao_bmx160.h
@@ -19,6 +19,8 @@
 #ifndef _AO_BMX160_H_
 #define _AO_BMX160_H_
 
+#include <math.h>
+
 struct ao_bmx160_sample {
        int16_t         mag_x;
        int16_t         mag_y;
@@ -250,4 +252,18 @@ ao_bmx160_init(void);
 #define BMM150_REPZ                            0x52
 #define  BMM150_REPZ_VALUE(n)                          ((n) -1)
 
+#define BMX160_GYRO_FULLSCALE  ((float) 2000 * M_PI/180.0)
+
+static inline float
+ao_bmx160_gyro(float sensor) {
+       return sensor * ((float) (BMX160_GYRO_FULLSCALE / 32767.0));
+}
+
+#define BMX160_ACCEL_FULLSCALE 16
+
+static inline float
+ao_bmx160_accel(int16_t sensor) {
+       return (float) sensor * ((float) (BMX160_ACCEL_FULLSCALE * GRAVITY / 32767.0));
+}
+
 #endif /* _BMX160_H_ */