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Denis 2023-11-19 18:34:40 +01:00
parent b0ef536759
commit b1f2497ea5
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4 changed files with 87 additions and 9 deletions
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32
dev_iio.c
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@ -115,11 +115,23 @@ dev_iio_t* dev_iio_create(const char* path) {
iio->outer_anglvel_scale_z = GYRO_SCALE;
iio->outer_temp_scale = 0.0;
double mm[3][3] = {
double mm[3][3] =
/*
// this is the testing but "wrong" mount matrix
{
{0.0f, 0.0f, -1.0f},
{0.0f, 1.0f, 0.0f},
{1.0f, 0.0f, 0.0f}
{-1.0f, 0.0f, 0.0f}
};
*/
// this is the correct matrix:
{
{-1.0, 0.0, 0.0},
{0.0, 1.0, 0.0},
{0.0, 0.0, -1.0}
};
// store the mount matrix
memcpy(iio->mount_matrix, mm, sizeof(mm));
const long path_len = strlen(path) + 1;
@ -217,6 +229,22 @@ dev_iio_t* dev_iio_create(const char* path) {
}
// ==========================================================================================================
// ============================================ sampling_rate ================================================
{
char* const accel_scale = read_file(iio->path, "/in_temp_scale");
if (accel_scale != NULL) {
iio->temp_scale = strtod(accel_scale, NULL);
free((void*)accel_scale);
} else {
fprintf(stderr, "Unable to read in_accel_scale file from path %s%s.\n", iio->path, "/in_accel_scale");
free(iio);
iio = NULL;
goto dev_iio_create_err;
}
}
// ==========================================================================================================
const size_t tmp_sz = path_len + 128 + 1;
char* const tmp = malloc(tmp_sz);