- move ACC_1G def and GYRO_SCALE in Sensors.h

git-svn-id: http://multiwii.googlecode.com/svn/trunk/MultiWii_shared@1609 02679b44-d973-9852-f2fa-63770883b36c
cedlecomte · Nov 11, 2013 · d13f84f · d13f84f
1 parent a4f6ece
commit d13f84f
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Showing 3 changed files with 70 additions and 68 deletions.
diff --git a/Sensors.cpp b/Sensors.cpp
@@ -7,6 +7,8 @@
 #include "EEPROM.h"
 #include "IMU.h"
 #include "LCD.h"
+#include "Sensors.h"
+
 
 void i2c_BMP085_UT_Start(void);
 

diff --git a/Sensors.h b/Sensors.h
@@ -35,5 +35,73 @@ uint8_t i2c_readReg(uint8_t add, uint8_t reg);
 uint8_t i2c_readAck();
 uint8_t i2c_readNak();
 
+#if defined(MMA7455)
+  #define ACC_1G 64
+#endif
+#if defined(MMA8451Q)
+  #define ACC_1G 512
+#endif
+#if defined(ADXL345)
+  #define ACC_1G 265
+#endif
+#if defined(BMA180)
+  #define ACC_1G 255
+#endif
+#if defined(BMA280)
+  #define ACC_1G 255
+#endif
+#if defined(BMA020)
+  #define ACC_1G 63
+#endif
+#if defined(NUNCHACK)
+  #define ACC_1G 200
+#endif
+#if defined(LIS3LV02)
+  #define ACC_1G 256
+#endif
+#if defined(LSM303DLx_ACC)
+  #define ACC_1G 256
+#endif
+#if defined(ADCACC)
+  #define ACC_1G 75
+#endif
+#if defined(MPU6050)
+  #if defined(FREEIMUv04)
+    #define ACC_1G 255
+  #else
+    #define ACC_1G 512
+  #endif
+#endif
+#if defined(LSM330)
+  #define ACC_1G 256
+#endif
+#if defined(NUNCHUCK)
+  #define ACC_1G 200
+#endif
+#if !defined(ACC_1G)
+  #define ACC_1G 256
+#endif
+#define ACCZ_25deg   (int16_t)(ACC_1G * 0.90631) // 0.90631 = cos(25deg) (cos(theta) of accZ comparison)
+#define ACC_VelScale (9.80665f / 10000.0f / ACC_1G)
+
+// GYRO SCALE: we ignore the last 2 bits and convert it for rad/s
+#if defined(ITG3200)
+  #define GYRO_SCALE (4 / 14.375 * PI / 180.0 / 1000000.0) //ITG3200   14.375 LSB = 1 deg/s
+#endif
+#if defined(L3G4200D)
+  #define GYRO_SCALE ((4.0f * PI * 70.0f)/(1000.0f * 180.0f * 1000000.0f)) // 70 milli deg/s /digit => 1 deg/s = 1000/70 LSB
+#endif
+#if defined(MPU6050)
+  #define GYRO_SCALE (4 / 16.4 * PI / 180.0 / 1000000.0)   //MPU6050 and MPU3050   16.4 LSB = 1 deg/s
+#endif
+#if defined(LSM330)
+  #define GYRO_SCALE ((4.0f * PI * 70.0f)/(1000.0f * 180.0f * 1000000.0f)) // like L3G4200D
+#endif
+#if defined(MPU3050)
+  #define GYRO_SCALE (4 / 16.4 * PI / 180.0 / 1000000.0)   //MPU6050 and MPU3050   16.4 LSB = 1 deg/s
+#endif
+#if defined(WMP)
+  #define GYRO_SCALE (1.0f/200e6f)
+#endif
 
 #endif /* SENSORS_H_ */
diff --git a/def.h b/def.h
@@ -1633,74 +1633,6 @@
 #endif
 
 
-#if defined(MMA7455)
-  #define ACC_1G 64
-#endif
-#if defined(MMA8451Q)
-  #define ACC_1G 512
-#endif
-#if defined(ADXL345)
-  #define ACC_1G 265
-#endif
-#if defined(BMA180)
-  #define ACC_1G 255
-#endif
-#if defined(BMA280)
-  #define ACC_1G 255
-#endif
-#if defined(BMA020)
-  #define ACC_1G 63
-#endif
-#if defined(NUNCHACK)
-  #define ACC_1G 200
-#endif
-#if defined(LIS3LV02)
-  #define ACC_1G 256
-#endif
-#if defined(LSM303DLx_ACC)
-  #define ACC_1G 256
-#endif
-#if defined(ADCACC)
-  #define ACC_1G 75
-#endif
-#if defined(MPU6050)
-  #if defined(FREEIMUv04)
-    #define ACC_1G 255
-  #else
-    #define ACC_1G 512
-  #endif
-#endif
-#if defined(LSM330)
-  #define ACC_1G 256
-#endif
-#if defined(NUNCHUCK)
-  #define ACC_1G 200
-#endif
-#if !defined(ACC_1G)
-  #define ACC_1G 256
-#endif
-#define ACCZ_25deg   (int16_t)(ACC_1G * 0.90631) // 0.90631 = cos(25deg) (cos(theta) of accZ comparison)
-#define ACC_VelScale (9.80665f / 10000.0f / ACC_1G)
-
-#if defined(ITG3200)
-  #define GYRO_SCALE (4 / 14.375 * PI / 180.0 / 1000000.0) //ITG3200   14.375 LSB/(deg/s) and we ignore the last 2 bits
-#endif
-#if defined(L3G4200D)
-  #define GYRO_SCALE ((4.0f * PI * 70.0f)/(1000.0f * 180.0f * 1000000.0f))
-#endif
-#if defined(MPU6050)
-  #define GYRO_SCALE (4 / 16.4 * PI / 180.0 / 1000000.0)   //MPU6050 and MPU3050   16.4 LSB/(deg/s) and we ignore the last 2 bits
-#endif
-#if defined(LSM330)
-  #define GYRO_SCALE ((4.0f * PI * 70.0f)/(1000.0f * 180.0f * 1000000.0f)) // like L3G4200D
-#endif
-#if defined(MPU3050)
-  #define GYRO_SCALE (4 / 16.4 * PI / 180.0 / 1000000.0)   //MPU6050 and MPU3050   16.4 LSB/(deg/s) and we ignore the last 2 bits
-#endif
-#if defined(WMP)
-  #define GYRO_SCALE (1.0f/200e6f)
-#endif
-
 /**************************************************************************************/
 /***************      Multitype decleration for the GUI's          ********************/
 /**************************************************************************************/