diff options
| author | Keith Packard <keithp@keithp.com> | 2012-10-13 15:04:00 -0700 |
|---|---|---|
| committer | Keith Packard <keithp@keithp.com> | 2012-10-13 15:04:00 -0700 |
| commit | c6eec0bec06d2e246ea3c9552818ad3180c1e318 (patch) | |
| tree | e10c57458237c38075289171afe5232987377dd6 | |
| parent | 5caf56e89678637c1afa79700a2fa09aa67dea9b (diff) | |
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>
| -rw-r--r-- | src/drivers/ao_mpu6000.h | 3 |
1 files changed, 3 insertions, 0 deletions
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; |