From: Keith Packard <keithp@keithp.com>
Date: Sun, 2 Aug 2020 19:51:16 +0000 (-0700)
Subject: altos/drivers: Add ao_adxl375_accel_to_sample macro
X-Git-Tag: 1.9.6~1^2~39
X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=commitdiff_plain;h=8ddade934e965e19b760cdde4eb8ecadf6abf70c

altos/drivers: Add ao_adxl375_accel_to_sample macro

This converts from acceleration levels to sample counts for use in
detecting stability of airframe after landing when no other IMU is
present.

Signed-off-by: Keith Packard <keithp@keithp.com>
---

diff --git a/src/drivers/ao_adxl375.h b/src/drivers/ao_adxl375.h
index a1ed216d..fe448fd0 100644
--- a/src/drivers/ao_adxl375.h
+++ b/src/drivers/ao_adxl375.h
@@ -93,6 +93,8 @@
 
 #define AO_ADXL375_FIFO_STATUS		0x39
 
+#define ADXL375_ACCEL_FULLSCALE		200
+
 struct ao_adxl375_sample {
 	int16_t	x;
 	int16_t	y;
@@ -101,6 +103,8 @@ struct ao_adxl375_sample {
 
 extern struct ao_adxl375_sample	ao_adxl375_current;
 
+#define ao_adxl375_accel_to_sample(accel) ((accel_t) (accel) * (4095.0f / (ADXL375_ACCEL_FULLSCALE * GRAVITY)))
+
 void
 ao_adxl375_init(void);