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- #ifndef __foot_pdr_h__
- #define __foot_pdr_h__
- #include "main.h"
- #include "ekfPDR.h"
- #include "matrixOperations.h"
- #include "motion_config.h"
- #include "nrf_nvmc.h"
- #define FLASH_ADD 0x0007c000
- #define ZUPT_threshold 0.81
- #define SIGMA 0.01
- #define SIGMA_V 0.01
- #define PI 3.14159265f
- #define RUN 1
- #define STAND 0
- unsigned char footPDR(int32_t num, float *gyr, float *acc, int16_t front_zero, int16_t back_zero, int16_t acc_zero, int32_t* pos_res, int16_t* att);
- void quat2angle(float qin[4], float *roll, float *pitch, float *yaw);
- #endif
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