so I have an stm32 board and I use the gyro to measure the angular acceleration

so I have an stm32 board and I use the gyro to measure the angular acceleration per 0.5s within the total of the 20s. Now I need to transfer the angular acceleration to linear acceleration and then calculate the actual distance that I walked carrying the stm32f4 board. Now I have the total data of angular acceleration and I need a code to transfer those data.
Comments from Customer
there is no additional material. just write a C function

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