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nrealAirLinuxDriver
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Add function to export calibration json data from device storage 

Signed-off-by: Jacki <jacki@thejackimonster.de>
This commit is contained in:
Jacki 2025-08-11 21:28:29 +02:00
parent e6f2955f78
commit 806daa7098
No known key found for this signature in database
GPG Key ID: B404184796354C5E
3 changed files with 115 additions and 27 deletions
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4
examples/debug_imu/src/debug.c
View File

@ -52,6 +52,10 @@ int main(int argc, const char** argv) {
return 1;
}
if ((argc > 1) && (DEVICE_IMU_ERROR_NO_ERROR != device_imu_export_calibration(&dev, argv[1]))) {
return 2;
}
device_imu_clear(&dev);
while (DEVICE_IMU_ERROR_NO_ERROR == device_imu_read(&dev, -1));
device_imu_close(&dev);

2
interface_lib/include/device_imu.h
View File

@ -186,6 +186,8 @@ device_imu_error_type device_imu_load_calibration(device_imu_type* device, const
device_imu_error_type device_imu_save_calibration(device_imu_type* device, const char* path);
device_imu_error_type device_imu_export_calibration(device_imu_type* device, const char *path);
device_imu_error_type device_imu_clear(device_imu_type* device);
device_imu_error_type device_imu_calibrate(device_imu_type* device, uint32_t iterations, bool gyro, bool accel, bool magnet);

136
interface_lib/src/device_imu.c
View File

@ -190,6 +190,59 @@ static bool recv_payload_msg(device_imu_type* device, uint8_t msgid, uint16_t le
return true;
}
static device_imu_error_type load_device_imu_calibration_data(device_imu_type* device, uint32_t* len, char** data) {
if (!device) {
return DEVICE_IMU_ERROR_NO_DEVICE;
}
if ((!len) || (!data)) {
return DEVICE_IMU_ERROR_NO_ALLOCATION;
}
if (!send_payload_msg(device, DEVICE_IMU_MSG_GET_CAL_DATA_LENGTH, 0, NULL)) {
device_imu_error("Failed sending payload to get calibration data length");
return DEVICE_IMU_ERROR_PAYLOAD_FAILED;
}
*len = 0;
if (!recv_payload_msg(device, DEVICE_IMU_MSG_GET_CAL_DATA_LENGTH, 4, (uint8_t*) len)) {
*data = NULL;
return DEVICE_IMU_ERROR_LOADING_FAILED;
}
const uint16_t max_packet_size = (device->max_payload_size - 8);
*data = malloc(*len + 1);
if (!(*data)) {
return DEVICE_IMU_ERROR_NO_ALLOCATION;
}
uint32_t position = 0;
while (position < *len) {
const uint32_t remaining = (*len - position);
if (!send_payload_msg(device, DEVICE_IMU_MSG_CAL_DATA_GET_NEXT_SEGMENT, 0, NULL)) {
break;
}
const uint16_t next = (remaining > max_packet_size? max_packet_size : remaining);
if (!recv_payload_msg(device, DEVICE_IMU_MSG_CAL_DATA_GET_NEXT_SEGMENT, next, (uint8_t*) (*data) + position)) {
break;
}
position += next;
}
if (position > *len) {
(*data)[*len] = '\0';
} else {
(*data)[position] = '\0';
}
return DEVICE_IMU_ERROR_NO_ERROR;
}
static FusionVector json_object_get_vector(struct json_object* obj) {
if ((!json_object_is_type(obj, json_type_array)) ||
(json_object_array_length(obj) != 3)) {
@ -367,35 +420,10 @@ device_imu_error_type device_imu_open(device_imu_type* device, device_imu_event_
device_imu_reset_calibration(device);
if (!send_payload_msg(device, DEVICE_IMU_MSG_GET_CAL_DATA_LENGTH, 0, NULL)) {
device_imu_error("Failed sending payload to get calibration data length");
return DEVICE_IMU_ERROR_PAYLOAD_FAILED;
}
uint32_t calibration_len = 0;
if (recv_payload_msg(device, DEVICE_IMU_MSG_GET_CAL_DATA_LENGTH, 4, (uint8_t*) &calibration_len)) {
const uint16_t max_packet_size = (device->max_payload_size - 8);
char* calibration_data = malloc(calibration_len + 1);
uint32_t position = 0;
while (position < calibration_len) {
const uint32_t remaining = (calibration_len - position);
if (!send_payload_msg(device, DEVICE_IMU_MSG_CAL_DATA_GET_NEXT_SEGMENT, 0, NULL)) {
break;
}
const uint16_t next = (remaining > max_packet_size? max_packet_size : remaining);
if (!recv_payload_msg(device, DEVICE_IMU_MSG_CAL_DATA_GET_NEXT_SEGMENT, next, (uint8_t*) calibration_data + position)) {
break;
}
position += next;
}
calibration_data[calibration_len] = '\0';
char *calibration_data = NULL;
if (DEVICE_IMU_ERROR_NO_ERROR == load_device_imu_calibration_data(device, &calibration_len, &calibration_data)) {
struct json_tokener* tokener = json_tokener_new();
struct json_object* root = json_tokener_parse_ex(tokener, calibration_data, calibration_len);
struct json_object* imu = json_object_object_get(root, "IMU");
@ -621,6 +649,60 @@ device_imu_error_type device_imu_save_calibration(device_imu_type* device, const
return result;
}
device_imu_error_type device_imu_export_calibration(device_imu_type* device, const char *path) {
if ((!send_payload_msg_signal(device, DEVICE_IMU_MSG_START_IMU_DATA, 0x0)) ||
(!recv_payload_msg(device, DEVICE_IMU_MSG_START_IMU_DATA, 0, NULL))) {
device_imu_error("Failed sending payload to stop imu data stream");
return DEVICE_IMU_ERROR_PAYLOAD_FAILED;
}
device_imu_clear(device);
uint32_t calibration_len = 0;
char *calibration_data = NULL;
device_imu_error_type result = load_device_imu_calibration_data(device, &calibration_len, &calibration_data);
if (DEVICE_IMU_ERROR_NO_ERROR != result) {
goto free_data;
}
FILE* file = fopen(path, "w");
if (!file) {
device_imu_error("No file opened");
result = DEVICE_IMU_ERROR_FILE_NOT_OPEN;
goto free_data;
}
size_t count;
count = fwrite(calibration_data, 1, calibration_len, file);
if (calibration_len != count) {
device_imu_error("Not fully saved");
result = DEVICE_IMU_ERROR_SAVING_FAILED;
}
if (0 != fclose(file)) {
device_imu_error("No file closed");
result = DEVICE_IMU_ERROR_FILE_NOT_CLOSED;
}
free_data:
if (calibration_data) {
free(calibration_data);
}
device_imu_clear(device);
if ((!send_payload_msg_signal(device, DEVICE_IMU_MSG_START_IMU_DATA, 0x1)) ||
(!recv_payload_msg(device, DEVICE_IMU_MSG_START_IMU_DATA, 0, NULL))) {
device_imu_error("Failed sending payload to stop imu data stream");
result = DEVICE_IMU_ERROR_PAYLOAD_FAILED;
}
return result;
}
static void device_imu_callback(device_imu_type* device,
uint64_t timestamp,
device_imu_event_type event) {