Reading IMU data from raw (binary) data

The dwSensorIMU_processRawData() and dwSensorIMU_popFrame() functions can be used to parse raw sensor data and read the measurements in the dwIMUFrame format. dwSensorIMU_processRawData() copies parsed data, therefore the raw data can be returned after the call.

Example

The following code shows the general structure of a program reading raw data from a sensor, serializing it and parsing it.

dwSensorHandle_t imuSensor;
dwSAL_createSensor(&imuSensor, ..., ...);
 
dwSensor_start(imuSensor);
 
const uint8_t *data = nullptr;
size_t size         = 0;
 
while(loop)
{
    dwStatus status = DW_NOT_READY;
 
    while (status == DW_NOT_READY)
    {
        dwSensor_readRawData(&data, &size, 1000000, imuSensor);
 
        status = dwSensorIMU_processRawData(data, size, imuSensor);
 
        dwSensorSerializer_serializeDataAsync(data, size, ...);
 
        dwSensor_returnRawData(data, imuSensor);
    }
 
    dwIMUFrame frame{};
    dwSensorIMU_popFrame(&frame, imuSensor);
 
    ...
}
 
dwSensor_stop(imuSensor);
dwSAL_releaseSensor(&imuSensor);

For more details see Simple Sensor Recording Sample