陀螺仪欧拉角的计算

app/by_imu.h

@@ -3,13 +3,44 @@
 
 #include "stdio.h"
 #include "ch32v30x.h"
+typedef struct {
+    float gyro_x;
+    float gyro_y;
+    float gyro_z;
+    float acc_x;
+    float acc_y;
+    float acc_z;
+} icm_param_t;
 
-extern float imu_acc_x;
-extern float imu_acc_y;
-extern float imu_acc_z;
-extern float imu_gyro_x;
-extern float imu_gyro_y;
-extern float imu_gyro_z;
+typedef struct {
+    float q0;
+    float q1;
+    float q2;
+    float q3;
+} quater_param_t;
 
-extern void by_imu_data_get(void);
+typedef struct {
+    float pitch;    //俯仰角
+    float roll;     //偏航角
+    float yaw;       //翻滚角
+} euler_param_t;
+
+typedef struct {
+    float Xdata;
+    float Ydata;
+    float Zdata;
+} gyro_param_t;
+
+extern icm_param_t icm_data;
+extern euler_param_t eulerAngle;
+
+void gyroOffset_init(void);
+
+float fast_sqrt(float x);
+
+void ICM_AHRSupdate(float gx, float gy, float gz, float ax, float ay, float az);
+
+void ICM_getValues();
+
+void ICM_getEulerianAngles(void);
 #endif