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d/vive_controller: Fix imu timestamp calculation

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Philipp Zabel looked into it and it turns out the timestamp from the
imu sample should be the third byte, not the fourth.
This commit is contained in:
Christoph Haag 2020-07-02 00:39:07 +02:00
parent acdda780b6
commit 08c6fe9744
2 changed files with 4 additions and 4 deletions
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2
src/xrt/drivers/vive/vive_controller_driver.c
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@ -652,7 +652,7 @@ vive_controller_handle_imu_sample(struct vive_controller_device *d,
struct watchman_imu_sample *sample)
{
/* ouvrt: "Time in 48 MHz ticks, but we are missing the low byte" */
uint32_t time_raw = d->last_ticks | sample->timestamp_lo;
uint32_t time_raw = d->last_ticks | (sample->timestamp_hi << 8);
uint32_t dt_raw = calc_dt_raw_and_handle_overflow(d, time_raw);
uint64_t dt_ns = cald_dt_ns(dt_raw);

6
src/xrt/drivers/vive/vive_protocol.h
View file

@ -185,9 +185,9 @@ struct watchman_imu_sample
* The full timestamp is 4 bytes, formed by
* first byte : vive_controller_message.timestamp_hi
* second byte: vive_controller_message.timestamp_lo
* fourth byte: watchman_imu_sample.timestamp_lo */
//! @todo: confirm timestamp_lo shouldn't be third byte instead.
uint8_t timestamp_lo;
* third byte: watchman_imu_sample.timestamp_hi
* fourth byte: remains zero */
uint8_t timestamp_hi;
uint16_t acc[3];
uint16_t gyro[3];
} __attribute__((packed));