60 lines
1.5 KiB
C
60 lines
1.5 KiB
C
#pragma once
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#include "imu_message.h"
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#include "input_dev.h"
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#define DEV_IIO_HAS_ACCEL 0x00000001U
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#define DEV_IIO_HAS_ANGLVEL 0x00000002U
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#define ACCEL_SCALE ((double)(255.0)/(double)(9.81)) // convert m/s^2 to g's, and scale x255 to increase precision when passed to evdev as an int
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#define GYRO_SCALE ((double)(180.0)/(double)(M_PI)) // convert radians/s to degrees/s
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typedef struct dev_iio {
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char* path;
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char* dev_path;
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char* name;
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uint32_t flags;
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int fd;
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double accel_scale_x;
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double accel_scale_y;
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double accel_scale_z;
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double outer_accel_scale_x;
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double outer_accel_scale_y;
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double outer_accel_scale_z;
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double anglvel_scale_x;
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double anglvel_scale_y;
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double anglvel_scale_z;
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double outer_anglvel_scale_x;
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double outer_anglvel_scale_y;
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double outer_anglvel_scale_z;
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double temp_scale;
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double outer_temp_scale;
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} dev_iio_t;
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int dev_iio_open(
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const iio_filters_t *const in_filters,
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dev_iio_t **const out_dev
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);
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void dev_iio_close(dev_iio_t *const iio);
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int dev_iio_get_buffer_fd(const dev_iio_t *const iio);
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const char* dev_iio_get_name(const dev_iio_t* iio);
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const char* dev_iio_get_path(const dev_iio_t* iio);
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int dev_iio_has_anglvel(const dev_iio_t* iio);
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int dev_iio_has_accel(const dev_iio_t* iio);
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int dev_iio_change_anglvel_sampling_freq(const dev_iio_t *const iio, const char *const freq_str_hz);
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int dev_iio_change_accel_sampling_freq(const dev_iio_t *const iio, const char *const freq_str_hz);
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