This lets other code convert MPU6000 readings into canonical units
Signed-off-by: Keith Packard <keithp@keithp.com>
/* Self test gyro is approximately 50°/s */
#define MPU6000_ST_GYRO(full_scale) ((int16_t) (((int32_t) 32767 * (int32_t) 50) / (full_scale)))
/* 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;
struct ao_mpu6000_sample {
int16_t accel_x;
int16_t accel_y;