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d/wmr: Only take the lock once per received packet

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This commit is contained in:
Jakob Bornecrantz 2021-04-23 22:47:40 +01:00
parent 13d127035b
commit 0807ce6ddd
1 changed files with 14 additions and 11 deletions

25
src/xrt/drivers/wmr/wmr_hmd.c
View file

@ -147,23 +147,26 @@ hololens_sensors_read_packets(struct wmr_hmd *wh)
hololens_sensors_decode_packet(wh, &wh->packet, buffer, size);
struct xrt_vec3 raw_gyro[4];
struct xrt_vec3 raw_accel[4];
for (int i = 0; i < 4; i++) {
struct xrt_vec3 raw_gyro;
struct xrt_vec3 raw_accel;
vec3_from_hololens_gyro(wh->packet.gyro, i, &raw_gyro[i]);
vec3_from_hololens_accel(wh->packet.accel, i, &raw_accel[i]);
}
vec3_from_hololens_gyro(wh->packet.gyro, i, &raw_gyro);
vec3_from_hololens_accel(wh->packet.accel, i, &raw_accel);
os_mutex_lock(&wh->fusion.mutex);
wh->fusion.last_imu_timestamp_ns = now_ns;
wh->fusion.last_angular_velocity = raw_gyro;
os_mutex_lock(&wh->fusion.mutex);
for (int i = 0; i < 4; i++) {
m_imu_3dof_update( //
&wh->fusion.i3dof, //
wh->packet.gyro_timestamp[i] * WMR_MS_HOLOLENS_NS_PER_TICK, //
&raw_accel, //
&raw_gyro); //
os_mutex_unlock(&wh->fusion.mutex);
&raw_accel[i], //
&raw_gyro[i]); //
}
wh->fusion.last_imu_timestamp_ns = now_ns;
wh->fusion.last_angular_velocity = raw_gyro[3];
os_mutex_unlock(&wh->fusion.mutex);
break;
}
case WMR_MS_HOLOLENS_MSG_UNKNOWN_05: