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d/psmv: Correctly handle z-axis

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This commit is contained in:
Jakob Bornecrantz 2019-09-11 16:03:47 +01:00
parent e179349644
commit 5b02974ae0
1 changed files with 28 additions and 11 deletions
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39
src/xrt/drivers/psmv/psmv_driver.c
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@ -126,14 +126,15 @@ struct psmv_f32_wire
}; };
/*! /*!
* Wire encoding of three 32 bit float, notice order of axis, big endian. * Wire encoding of three 32 bit float, notice order of axis and negation,
* big endian.
* *
* @ingroup drv_psmv * @ingroup drv_psmv
*/ */
struct psmv_vec3_f32_wite struct psmv_vec3_f32_wire
{ {
struct psmv_f32_wire x; struct psmv_f32_wire x;
struct psmv_f32_wire z; struct psmv_f32_wire z_neg;
struct psmv_f32_wire y; struct psmv_f32_wire y;
}; };
@ -149,14 +150,14 @@ struct psmv_i16_wire
}; };
/*! /*!
* Wire encoding of three 16 bit integers, notice order of axis. * Wire encoding of three 16 bit integers, notice order of axis and negation.
* *
* @ingroup drv_psmv * @ingroup drv_psmv
*/ */
struct psmv_vec3_i16_wire struct psmv_vec3_i16_wire
{ {
struct psmv_i16_wire x; struct psmv_i16_wire x;
struct psmv_i16_wire z; struct psmv_i16_wire z_neg;
struct psmv_i16_wire y; struct psmv_i16_wire y;
}; };
@ -209,8 +210,8 @@ struct psmv_calibration_zcm1
struct psmv_vec3_i16_wire accel_min_x; struct psmv_vec3_i16_wire accel_min_x;
struct psmv_vec3_i16_wire accel_min_y; struct psmv_vec3_i16_wire accel_min_y;
struct psmv_vec3_i16_wire accel_max_x; struct psmv_vec3_i16_wire accel_max_x;
struct psmv_vec3_i16_wire accel_max_z;
struct psmv_vec3_i16_wire accel_min_z; struct psmv_vec3_i16_wire accel_min_z;
struct psmv_vec3_i16_wire accel_max_z;
uint16_t _pad1; uint16_t _pad1;
struct psmv_vec3_i16_wire gyro_bias_0; struct psmv_vec3_i16_wire gyro_bias_0;
uint16_t _pad2; uint16_t _pad2;
@ -226,8 +227,8 @@ struct psmv_calibration_zcm1
uint16_t _pad9; uint16_t _pad9;
struct psmv_vec3_i16_wire gyro_rot_y; struct psmv_vec3_i16_wire gyro_rot_y;
uint16_t _pad10; uint16_t _pad10;
struct psmv_vec3_f32_wite unknown_vec3; struct psmv_vec3_f32_wire unknown_vec3;
struct psmv_vec3_f32_wite gyro_fact; struct psmv_vec3_f32_wire gyro_fact;
struct psmv_f32_wire unknown_float_0; struct psmv_f32_wire unknown_float_0;
struct psmv_f32_wire unknown_float_1; struct psmv_f32_wire unknown_float_1;
uint8_t _pad[17]; uint8_t _pad[17];
@ -355,13 +356,21 @@ psmv_i32_from_i16_wire(int32_t *to, const struct psmv_i16_wire *from)
*to = (from->low | from->high << 8) - 0x8000; *to = (from->low | from->high << 8) - 0x8000;
} }
static void
psmv_i32_from_i16_wire_neg(int32_t *to, const struct psmv_i16_wire *from)
{
int32_t v;
psmv_i32_from_i16_wire(&v, from);
*to = -v;
}
static void static void
psmv_vec3_i32_from_i16_wire(struct xrt_vec3_i32 *to, psmv_vec3_i32_from_i16_wire(struct xrt_vec3_i32 *to,
const struct psmv_vec3_i16_wire *from) const struct psmv_vec3_i16_wire *from)
{ {
psmv_i32_from_i16_wire(&to->x, &from->x); psmv_i32_from_i16_wire(&to->x, &from->x);
psmv_i32_from_i16_wire(&to->y, &from->y); psmv_i32_from_i16_wire(&to->y, &from->y);
psmv_i32_from_i16_wire(&to->z, &from->z); psmv_i32_from_i16_wire_neg(&to->z, &from->z_neg);
} }
static void static void
@ -377,13 +386,21 @@ psmv_f32_from_wire(float *to, const struct psmv_f32_wire *from)
*to = safe_copy.f32; *to = safe_copy.f32;
} }
static void
psmv_f32_from_wire_neg(float *to, const struct psmv_f32_wire *from)
{
float v;
psmv_f32_from_wire(&v, from);
*to = -v;
}
static void static void
psmv_vec3_f32_from_wire(struct xrt_vec3 *to, psmv_vec3_f32_from_wire(struct xrt_vec3 *to,
const struct psmv_vec3_f32_wite *from) const struct psmv_vec3_f32_wire *from)
{ {
psmv_f32_from_wire(&to->x, &from->x); psmv_f32_from_wire(&to->x, &from->x);
psmv_f32_from_wire(&to->y, &from->y); psmv_f32_from_wire(&to->y, &from->y);
psmv_f32_from_wire(&to->z, &from->z); psmv_f32_from_wire_neg(&to->z, &from->z_neg);
} }
static void static void