From: Keith Packard <keithp@keithp.com>
Date: Sat, 13 Oct 2012 22:04:00 +0000 (-0700)
Subject: altos: Define full-scale gyro and accel values for MPU6000
X-Git-Tag: 1.1.9.1~23
X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=commitdiff_plain;h=c6eec0bec06d2e246ea3c9552818ad3180c1e318

altos: Define full-scale gyro and accel values for MPU6000

This lets other code convert MPU6000 readings into canonical units

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

diff --git a/src/drivers/ao_mpu6000.h b/src/drivers/ao_mpu6000.h
index ca76b081..5c0cee1b 100644
--- a/src/drivers/ao_mpu6000.h
+++ b/src/drivers/ao_mpu6000.h
@@ -145,6 +145,9 @@
 /* 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;