From c6eec0bec06d2e246ea3c9552818ad3180c1e318 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Sat, 13 Oct 2012 15:04:00 -0700 Subject: [PATCH] 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 --- src/drivers/ao_mpu6000.h | 3 +++ 1 file changed, 3 insertions(+) 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; -- 2.30.2