From c9d06035aee5586da74240e61befe646c4c00ed2 Mon Sep 17 00:00:00 2001 From: Denis Date: Sun, 19 Nov 2023 03:34:27 +0100 Subject: [PATCH] fixes --- dev_iio.c | 16 +++------------- 1 file changed, 3 insertions(+), 13 deletions(-) diff --git a/dev_iio.c b/dev_iio.c index e25a3e9..86dfab1 100644 --- a/dev_iio.c +++ b/dev_iio.c @@ -216,7 +216,7 @@ dev_iio_t* dev_iio_create(const char* path) { { char* const accel_scale = read_file(iio->path, "/in_temp_scale"); if (accel_scale != NULL) { - iio->accel_scale_x = iio->accel_scale_y = iio->accel_scale_z = strtod(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"); @@ -268,16 +268,6 @@ dev_iio_t* dev_iio_create(const char* path) { free(tmp); - printf( - "anglvel scale: | %f | %f | %f |, accel scale: | %f | %f | %f |", - iio->anglvel_scale_x, - iio->anglvel_scale_y, - iio->anglvel_scale_z, - iio->accel_scale_x, - iio->accel_scale_y, - iio->accel_scale_z - ); - dev_iio_create_err: return iio; } @@ -578,8 +568,8 @@ int dev_iio_read_imu(const dev_iio_t *const iio, imu_message_t *const out) { multiplyMatrixVector(iio->mount_matrix, gyro_in, gyro_out); multiplyMatrixVector(iio->mount_matrix, accel_in, accel_out); - memcpy(out->accel_m2s, accel_out, sizeof(double) * 3); - memcpy(out->gyro_rad_s, gyro_out, sizeof(double) * 3); + memcpy(out->accel_m2s, accel_out, sizeof(double[3])); + memcpy(out->gyro_rad_s, gyro_out, sizeof(double[3])); return 0; } \ No newline at end of file