#ifndef __GYRO_H
#define __GYRO_H


#include "public_data.h"
#include "filter.h"
#include "icm42688p.h"
//#include "flash_data.h"

#define XYZ_AXIS_COUNT 3

#define CALIBRATING_GYRO_CYCLES         500



typedef struct gyroCalibration_s 
{
	Axis3i32 gyroSum;
	Axis3i16 gyroZero;
	stdev_t var[XYZ_AXIS_COUNT];
	uint16_t cycleCount;
	int ok;
	int8_t gyroZeroFlashSign;
} gyroCalibration_t;



extern Axis3i16 gyroADC;
extern gyroCalibration_t gyroCalibration;

bool GYRO_Calibration(void);
void gyroUpdate(Axis3f *gyro);
bool gyroInit(float gyroUpdateRate);
void GYRO_Calibration_write(uint8_t data);



#endif