void MPU9150::getAccelScaled(float *ax, float *ay, float *az) {
int16_t a1, a2, a3;
getAcceleration(&a1, &a2, &a3);
uint8_t rangeMode = getFullScaleAccelRange();
int fullScaleRange;
switch (rangeMode) {
case (0) :
fullScaleRange = ACCEL_FCR_2;
break;
case (1) :
fullScaleRange = ACCEL_FCR_4;
break;
case (2) :
fullScaleRange = ACCEL_FCR_8;
break;
case (3) :
fullScaleRange = ACCEL_FCR_16;
break;
default:
fullScaleRange = ACCEL_FCR_2;
break;
}
*ax = normalize(a1, fullScaleRange);
*ay = normalize(a2, fullScaleRange);
*az = normalize(a3, fullScaleRange);
}
int CurieIMUClass::getAccelerometerRange()
{
int range;
switch (getFullScaleAccelRange()) {
case BMI160_ACCEL_RANGE_2G:
range = 2;
break;
case BMI160_ACCEL_RANGE_4G:
range = 4;
break;
case BMI160_ACCEL_RANGE_8G:
range = 8;
break;
case BMI160_ACCEL_RANGE_16G:
default:
range = 16;
break;
}
return range;
}
int CurieIMUClass::getAccelerometerRange()
{
return getFullScaleAccelRange();
}
