#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