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test for accel

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Denis 2023-11-19 02:42:29 +01:00
parent a8ea6ad031
commit 783571ccdd
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GPG key ID: DD9B63F805CF5C03
4 changed files with 19 additions and 9 deletions
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13
dev_iio.c
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@ -188,10 +188,17 @@ dev_iio_t* dev_iio_create(const char* path) {
// =========================================== in_accel_scale ===============================================
{
const char* preferred_scale = LSB_PER_16G_STR;
char* const accel_scale = read_file(iio->path, "/in_accel_scale");
if (accel_scale != NULL) {
iio->accel_scale_x = iio->accel_scale_y = iio->accel_scale_z = strtod(accel_scale, NULL);
free((void*)accel_scale);
if (write_file(iio->path, "/in_anglvel_scale", preferred_scale, strlen(preferred_scale)) >= 0) {
iio->accel_scale_x = iio->accel_scale_y = iio->accel_scale_z = LSB_PER_16G;
} else {
fprintf(stderr, "Unable to set preferred in_accel_scale for device %s.\n", iio->name);
}
} else {
// TODO: what about if those are plit in in_accel_{x,y,z}_scale?
fprintf(stderr, "Unable to read in_accel_scale file from path %s%s.\n", iio->path, "/in_accel_scale");
@ -471,7 +478,7 @@ int dev_iio_read_imu(const dev_iio_t *const iio, imu_message_t *const out) {
const int tmp_read = fread((void*)&tmp[0], 1, sizeof(tmp), iio->accel_x_fd);
if (tmp_read >= 0) {
out->accel_x_raw = strtol(&tmp[0], NULL, 10);
accel_out[0] = (double)out->accel_x_raw * iio->accel_scale_x;
accel_in[0] = (double)out->accel_x_raw * iio->accel_scale_x;
} else {
fprintf(stderr, "While reading accel(x): %d\n", tmp_read);
return tmp_read;
@ -484,7 +491,7 @@ int dev_iio_read_imu(const dev_iio_t *const iio, imu_message_t *const out) {
const int tmp_read = fread((void*)&tmp[0], 1, sizeof(tmp), iio->accel_y_fd);
if (tmp_read >= 0) {
out->accel_y_raw = strtol(&tmp[0], NULL, 10);
accel_out[1] = (double)out->accel_y_raw * iio->accel_scale_y;
accel_in[1] = (double)out->accel_y_raw * iio->accel_scale_y;
} else {
fprintf(stderr, "While reading accel(y): %d\n", tmp_read);
return tmp_read;
@ -497,7 +504,7 @@ int dev_iio_read_imu(const dev_iio_t *const iio, imu_message_t *const out) {
const int tmp_read = fread((void*)&tmp[0], 1, sizeof(tmp), iio->accel_z_fd);
if (tmp_read >= 0) {
out->accel_z_raw = strtol(&tmp[0], NULL, 10);
accel_out[2] = (double)out->accel_z_raw * iio->accel_scale_z;
accel_in[2] = (double)out->accel_z_raw * iio->accel_scale_z;
} else {
fprintf(stderr, "While reading accel(z): %d\n", tmp_read);
return tmp_read;