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d/psmv: Tidy code and add some comments

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This commit is contained in:
Jakob Bornecrantz 2019-09-15 23:21:29 +01:00
parent d4e139f09e
commit 59a2b87c43
1 changed files with 66 additions and 64 deletions
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130
src/xrt/drivers/psmv/psmv_driver.c
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@ -242,6 +242,42 @@ struct psmv_calibration_zcm1
uint8_t _pad[17];
};
/*!
* Parsed calibration data from a ZCM1 device.
*/
struct psmv_parsed_calibration_zcm1
{
struct xrt_vec3_i32 accel_min_x;
struct xrt_vec3_i32 accel_max_x;
struct xrt_vec3_i32 accel_min_y;
struct xrt_vec3_i32 accel_max_y;
struct xrt_vec3_i32 accel_min_z;
struct xrt_vec3_i32 accel_max_z;
/*!
* From: https://github.com/nitsch/moveonpc/wiki/Calibration-data
*
* Coded as the one before. The values are very near to 1.0.
*
* I observed, that when I multiply this vector with the gyro bias
* vector before subtracting from the gyro 80rpm measures, I get a
* better calibration.
*
* So in order to get the accurate 80rpm measures:
* GyroMeasure80rpm-(GyroBias1*UnknownVector2) or
* GyroMeasure80rpm-(GyroBias2*UnknownVector2)
*/
struct xrt_vec3 gyro_fact;
struct xrt_vec3_i32 gyro_bias_0;
struct xrt_vec3_i32 gyro_bias_1;
struct xrt_vec3_i32 gyro_rot_x;
struct xrt_vec3_i32 gyro_rot_y;
struct xrt_vec3_i32 gyro_rot_z;
struct xrt_vec3 unknown_vec3;
float unknown_float_0, unknown_float_1;
};
/*!
* Calibration data, multiple packets goes into this.
*/
@ -267,8 +303,32 @@ struct psmv_calibration_zcm2
uint8_t _pad1[12];
};
/*!
* Input package.
* Parsed calibration data from a ZCM2 device.
*/
struct psmv_parsed_calibration_zcm2
{
struct xrt_vec3_i32 accel_min_x;
struct xrt_vec3_i32 accel_max_x;
struct xrt_vec3_i32 accel_min_y;
struct xrt_vec3_i32 accel_max_y;
struct xrt_vec3_i32 accel_min_z;
struct xrt_vec3_i32 accel_max_z;
struct xrt_vec3_i32 gyro_neg_x;
struct xrt_vec3_i32 gyro_pos_x;
struct xrt_vec3_i32 gyro_neg_y;
struct xrt_vec3_i32 gyro_pos_y;
struct xrt_vec3_i32 gyro_neg_z;
struct xrt_vec3_i32 gyro_pos_z;
//! Pretty sure this is gryo bias.
struct xrt_vec3_i32 gyro_bias;
};
/*!
* Input package for ZCM1.
*/
struct psmv_input_zcm1
{
@ -289,7 +349,7 @@ struct psmv_input_zcm1
};
/*!
* Input package.
* Input package for ZCM2.
*/
struct psmv_input_zcm2
{
@ -310,7 +370,7 @@ struct psmv_input_zcm2
};
/*!
* A parsed sample.
* A parsed sample of accel and gyro.
*/
struct psmv_parsed_sample
{
@ -358,65 +418,6 @@ struct psmv_parsed_input
};
};
/*!
* Parsed calibration data from a ZCM1 device.
*/
struct psmv_parsed_calibration_zcm1
{
struct xrt_vec3_i32 accel_min_x;
struct xrt_vec3_i32 accel_max_x;
struct xrt_vec3_i32 accel_min_y;
struct xrt_vec3_i32 accel_max_y;
struct xrt_vec3_i32 accel_min_z;
struct xrt_vec3_i32 accel_max_z;
/*!
* From: https://github.com/nitsch/moveonpc/wiki/Calibration-data
*
* Coded as the one before. The values are very near to 1.0.
*
* I observed, that when I multiply this vector with the gyro bias
* vector before subtracting from the gyro 80rpm measures, I get a
* better calibration.
*
* So in order to get the accurate 80rpm measures:
* GyroMeasure80rpm-(GyroBias1*UnknownVector2) or
* GyroMeasure80rpm-(GyroBias2*UnknownVector2)
*/
struct xrt_vec3 gyro_fact;
struct xrt_vec3_i32 gyro_bias_0;
struct xrt_vec3_i32 gyro_bias_1;
struct xrt_vec3_i32 gyro_rot_x;
struct xrt_vec3_i32 gyro_rot_y;
struct xrt_vec3_i32 gyro_rot_z;
struct xrt_vec3 unknown_vec3;
float unknown_float_0, unknown_float_1;
};
/*!
* Parsed calibration data from a ZCM2 device.
*/
struct psmv_parsed_calibration_zcm2
{
struct xrt_vec3_i32 accel_min_x;
struct xrt_vec3_i32 accel_max_x;
struct xrt_vec3_i32 accel_min_y;
struct xrt_vec3_i32 accel_max_y;
struct xrt_vec3_i32 accel_min_z;
struct xrt_vec3_i32 accel_max_z;
struct xrt_vec3_i32 gyro_neg_x;
struct xrt_vec3_i32 gyro_pos_x;
struct xrt_vec3_i32 gyro_neg_y;
struct xrt_vec3_i32 gyro_pos_y;
struct xrt_vec3_i32 gyro_neg_z;
struct xrt_vec3_i32 gyro_pos_z;
//! Pretty sure this is gryo bias.
struct xrt_vec3_i32 gyro_bias;
};
/*!
* A single PlayStation Move Controller.
*
@ -442,13 +443,13 @@ struct psmv_device
int64_t resend_time;
struct xrt_colour_rgb_u8 led;
uint8_t rumble;
} wants;
} wants; //!< What should be set.
struct
{
struct xrt_colour_rgb_u8 led;
uint8_t rumble;
} state;
} state; //!< What is currently set on the device.
struct
{
@ -1567,6 +1568,7 @@ psmv_parse_input(struct psmv_device *psmv,
}
}
/*!
* @}
*/