#ifndef __IMU_
#define __IMU_



#include "..\..\drivers\drv6DOF.h"

#define Kgyro 14.375

// Types
struct ww { int W0 ; int W1 ; } ;
union longww { long  WW ; struct ww _ ; } ;
typedef struct
   { 
	   float phi; // roll (d/dt =speed rate x axes)
	   float teta; // pitch (d/dt =speed rate y axes
	   float psi; // yaw (d/dt =speed rate z axes
	   float phiAccelero; // roll (d/dt =speed rate x axes)
	   float tetaAccelero; // pitch (d/dt =speed rate y axes


   } EulerAttitude;


   
extern Dof6Accelero accelero;

 void DCMupdate(float *);
void DCMtoEuler();
 void normalize(void);


extern float	R[];
extern float	Rtemp[];
#endif
