#ifndef _BY_IMU_H__
#define _BY_IMU_H__

#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;

typedef struct {
    float q0;
    float q1;
    float q2;
    float q3;
} quater_param_t;

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;
extern gyro_param_t GyroOffset;

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