text: #ifndef __ANO_imu_H
  #define __ANO_imu_H
  
  #include "common.h"
  #include "include.h"
  
  //#include "ANO_Data.h"
  
  typedef struct
  {
  	float w;//q0;
  	float x;//q1;
  	float y;//q2;
  	float z;//q3;
  
  	_xyz_f_st x_vec;
  	_xyz_f_st y_vec;
  	_xyz_f_st z_vec;
  
  	_xyz_f_st a_acc;
  	_xyz_f_st w_acc;
  	
  	float rol;
  	float pit;
  	float yaw;
  } _imu_st ;
  extern _imu_st imu_data;
  
  void IMU_duty(float);
  void IMU_update(float dT,_xyz_f_st *gyr, _xyz_f_st *acc,_imu_st *imu);
  #endif
  
  