X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fdrivers%2Fao_bmx160.h;fp=src%2Fdrivers%2Fao_bmx160.h;h=2b7e7bd768c27caaf51e88af3372a3688024d4ea;hp=265be995d3952fd081e939ff864145f967bf1727;hb=28add4f616dbaf06a1ca3234b81c68c4a299d056;hpb=a87698663f8a5ced468755068a0468755d8f2746

diff --git a/src/drivers/ao_bmx160.h b/src/drivers/ao_bmx160.h
index 265be995..2b7e7bd7 100644
--- 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_ */