altos: Add gyro-based orientation tracking

[fw/altos] / src / drivers / ao_mpu6000.h

diff --git a/src/drivers/ao_mpu6000.h b/src/drivers/ao_mpu6000.h
index a42f69c411fd4ab416cbea4bda0bd2400523c203..2241bf80b6e5fc01dafebf2e1492486b40c83292 100644 (file)
--- a/src/drivers/ao_mpu6000.h
+++ b/src/drivers/ao_mpu6000.h
@@ -18,6 +18,10 @@
 #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
 
@@ -166,9 +170,20 @@
 /* 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(int16_t sensor) {
+       return (float) 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;