#ifndef _SENSOR_WHEEL_H_
#define _SENSOR_WHEEL_H_

#include <stdint.h>

#define WHEEL_FRAME_LENGTH	19

#define WHEEL_EXP 	  1000
#define WHEEL_LIMIT4  4.294967296e9

typedef struct __attribute__((packed))
{
	uint8_t	header;
	uint8_t rotate_speed[4];	//飞轮转速
	uint8_t current[4];			//飞轮电流
	uint8_t control_state[4];	//控制状态
	uint8_t acc_torque[4];		//飞轮加速力矩指令
	uint8_t id;					//飞轮ID
	uint8_t checksum;
}FlyWheel_Frame;

//uint8_t generate_wheel_frame(uint8_t *frame);
uint8_t generate_wheel_frame(uint8_t *frame,double CmdWheel);
double cal_message_para(int s1, int s2, int s3, int s4, int exp);

void sensor_WheelMeas(double WheelTorqueBody[3], double WheelAM[3], double CmdWheel[3]);

#endif