42 lines
612 B
C
42 lines
612 B
C
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#ifndef __GYRO_H
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#define __GYRO_H
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#include "public_data.h"
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#include "filter.h"
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#include "icm42688p.h"
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//#include "flash_data.h"
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#define XYZ_AXIS_COUNT 3
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#define CALIBRATING_GYRO_CYCLES 500
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typedef struct gyroCalibration_s
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{
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Axis3i32 gyroSum;
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Axis3i16 gyroZero;
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stdev_t var[XYZ_AXIS_COUNT];
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uint16_t cycleCount;
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int ok;
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int8_t gyroZeroFlashSign;
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} gyroCalibration_t;
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extern Axis3i16 gyroADC;
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extern gyroCalibration_t gyroCalibration;
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bool GYRO_Calibration(void);
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void gyroUpdate(Axis3f *gyro);
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bool gyroInit(float gyroUpdateRate);
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void GYRO_Calibration_write(uint8_t data);
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#endif
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