diff --git a/src/APP/Aufgabe4/ps7/core0/cfg/imu.h b/src/APP/Aufgabe4/ps7/core0/cfg/imu.h
index de54e83..83927c7 100644
--- a/src/APP/Aufgabe4/ps7/core0/cfg/imu.h
+++ b/src/APP/Aufgabe4/ps7/core0/cfg/imu.h
@@ -13,7 +13,8 @@
 #include "xparameters.h"
 
 
-
+#define IMU_SAMPLE_TIME_MS 5
+#define PI 3.14159265
 
 #define MPU9250_AD   0x68   			//Adresse d. I²C slaves festlegen
 
@@ -23,6 +24,7 @@
 
 
 int mpu9250_Imu_Init(void *pdata);
+int mpu9250_CalculateAngle(void *pdata);
 uint8_t mpu9250_Iic_Init();
 void mpu9250_Init(void);
 uint8_t mpu9250_Write_Reg();