Initial commit from DCSP - 2026/1/15 15:11:58

sensor/include/sensor_gyro.h

@@ -0,0 +1,25 @@
+#ifndef _SENSOR_GYRO_H_
+#define _SENSOR_GYRO_H_
+
+#include <stdint.h>
+
+
+#define GYRO_FRAME_LENGTH 27
+
+//光纤陀螺通信协议帧格式
+typedef struct __attribute__((packed)){
+	uint8_t 	header;
+	uint8_t		x_angle_delta[3];	//陀螺X输出角度增量
+	uint16_t	x_integral_time;	//陀螺X积分时间
+	uint8_t		y_angle_delta[3];	//陀螺Y输出角度增量
+	uint16_t	y_integral_time;	//陀螺Y积分时间
+	uint8_t		z_angle_delta[3];	//陀螺Z输出角度增量
+	uint16_t	z_integral_time;	//陀螺Z积分时间
+	uint8_t 	rsvd[10];
+	uint8_t 	checksum;
+}Gyro_Frame;
+
+
+uint8_t generate_gyro_frame(uint8_t *frame, double AttiVelECI[3]);
+
+#endif