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