75 lines
No EOL
1.7 KiB
C
75 lines
No EOL
1.7 KiB
C
#pragma once
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#include "imu_message.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* name;
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uint32_t flags;
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FILE* accel_x_fd;
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FILE* accel_y_fd;
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FILE* accel_z_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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FILE* anglvel_x_fd;
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FILE* anglvel_y_fd;
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FILE* anglvel_z_fd;
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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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FILE* temp_fd;
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double temp_scale;
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double outer_temp_scale;
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double mount_matrix[3][3];
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} dev_iio_t;
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dev_iio_t* dev_iio_create(const char* path);
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void dev_iio_destroy(dev_iio_t* 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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inline int dev_iio_has_anglvel(const dev_iio_t* iio) {
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return (iio->flags & DEV_IIO_HAS_ANGLVEL) != 0;
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}
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inline int dev_iio_has_accel(const dev_iio_t* iio) {
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return (iio->flags & DEV_IIO_HAS_ACCEL) != 0;
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}
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int dev_iio_read(
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const dev_iio_t *const iio,
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struct input_event *const buf,
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size_t buf_sz,
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uint32_t *const buf_out
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);
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int dev_iio_read_imu(
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const dev_iio_t *const iio,
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imu_message_t *const out
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); |