altos/cc1200: Adjust bit-sync configuration

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

diff --git a/src/drivers/ao_mpu6000.h b/src/drivers/ao_mpu6000.h
index f01e9e83b81ce9ca52ff0b2f3e32a9d07af7175d..dc3a9fbfa0e9f664d15f04726641ffd306edc104 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
 
@@ -133,13 +137,13 @@
 #define MPU6000_SIGNAL_PATH_RESET_ACCEL_RESET  1
 #define MPU6000_SIGNAL_PATH_RESET_TEMP_RESET   0
 
-#define MPU6000_USER_CONTROL           0x6a
-#define MPU6000_USER_CONTROL_FIFO_EN           6
-#define MPU6000_USER_CONTROL_I2C_MST_EN                5
-#define MPU6000_USER_CONTROL_I2C_IF_DIS                4
-#define MPU6000_USER_CONTROL_FIFO_RESET                2
-#define MPU6000_USER_CONTROL_I2C_MST_RESET     1
-#define MPU6000_USER_CONTROL_SIG_COND_RESET    0
+#define MPU6000_USER_CTRL              0x6a
+#define MPU6000_USER_CTRL_FIFO_EN              6
+#define MPU6000_USER_CTRL_I2C_MST_EN           5
+#define MPU6000_USER_CTRL_I2C_IF_DIS           4
+#define MPU6000_USER_CTRL_FIFO_RESET           2
+#define MPU6000_USER_CTRL_I2C_MST_RESET                1
+#define MPU6000_USER_CTRL_SIG_COND_RESET       0
 
 #define MPU6000_PWR_MGMT_1     0x6b
 #define MPU6000_PWR_MGMT_1_DEVICE_RESET                7
@@ -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(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;