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d/psmv: Flip axis once more

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This commit is contained in:
Jakob Bornecrantz 2019-09-15 13:12:25 +01:00
parent 932b8dfd70
commit 7dcfe5ca50
1 changed files with 39 additions and 89 deletions
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128
src/xrt/drivers/psmv/psmv_driver.c
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@ -132,28 +132,15 @@ struct psmv_f32_wire
};
/*!
* Wire encoding of three 32 bit float, notice order of axis and negation,
* big endian.
*
* @ingroup drv_psmv
*/
struct psmv_vec3_f32_zn_wire
{
struct psmv_f32_wire x;
struct psmv_f32_wire z_neg;
struct psmv_f32_wire y;
};
/*!
* Wire encoding of three 32 bit float, notice order of axis, big endian.
* Wire encoding of three 32 bit float, big endian.
*
* @ingroup drv_psmv
*/
struct psmv_vec3_f32_wire
{
struct psmv_f32_wire x;
struct psmv_f32_wire z;
struct psmv_f32_wire y;
struct psmv_f32_wire z;
};
/*!
@ -168,27 +155,15 @@ struct psmv_i16_wire
};
/*!
* Wire encoding of three 16 bit integers, notice order of axis and negation.
*
* @ingroup drv_psmv
*/
struct psmv_vec3_i16_zn_wire
{
struct psmv_i16_wire x;
struct psmv_i16_wire z_neg;
struct psmv_i16_wire y;
};
/*!
* Wire encoding of three 16 bit integers, notice order of axis.
* Wire encoding of three 16 bit integers, big endian.
*
* @ingroup drv_psmv
*/
struct psmv_vec3_i16_wire
{
struct psmv_i16_wire x;
struct psmv_i16_wire z;
struct psmv_i16_wire y;
struct psmv_i16_wire z;
};
/*!
@ -205,10 +180,10 @@ struct psmv_input_zcm1
uint8_t unknown[4];
uint8_t timestamp_high;
uint8_t battery;
struct psmv_vec3_i16_zn_wire accel_f1;
struct psmv_vec3_i16_zn_wire accel_f2;
struct psmv_vec3_i16_zn_wire gyro_f1;
struct psmv_vec3_i16_zn_wire gyro_f2;
struct psmv_vec3_i16_wire accel_f1;
struct psmv_vec3_i16_wire accel_f2;
struct psmv_vec3_i16_wire gyro_f1;
struct psmv_vec3_i16_wire gyro_f2;
uint8_t temp_mag[6];
uint8_t timestamp_low;
uint8_t pad[49 - 44];
@ -236,12 +211,12 @@ struct psmv_calibration_zcm1
uint8_t id;
uint8_t which;
uint16_t _pad0;
struct psmv_vec3_i16_zn_wire accel_max_y;
struct psmv_vec3_i16_zn_wire accel_min_x;
struct psmv_vec3_i16_zn_wire accel_min_y;
struct psmv_vec3_i16_zn_wire accel_max_x;
struct psmv_vec3_i16_zn_wire accel_min_z;
struct psmv_vec3_i16_zn_wire accel_max_z;
struct psmv_vec3_i16_wire accel_max_z;
struct psmv_vec3_i16_wire accel_min_x;
struct psmv_vec3_i16_wire accel_min_z;
struct psmv_vec3_i16_wire accel_max_x;
struct psmv_vec3_i16_wire accel_max_y;
struct psmv_vec3_i16_wire accel_min_y;
uint16_t _pad1;
struct psmv_vec3_i16_wire gyro_bias_0;
uint16_t _pad2;
@ -253,11 +228,11 @@ struct psmv_calibration_zcm1
uint16_t _pad7;
struct psmv_vec3_i16_wire gyro_rot_x;
uint16_t _pad8;
struct psmv_vec3_i16_wire gyro_rot_z;
uint16_t _pad9;
struct psmv_vec3_i16_wire gyro_rot_y;
uint16_t _pad9;
struct psmv_vec3_i16_wire gyro_rot_z;
uint16_t _pad10;
struct psmv_vec3_f32_zn_wire unknown_vec3;
struct psmv_vec3_f32_wire unknown_vec3;
struct psmv_vec3_f32_wire gyro_fact;
struct psmv_f32_wire unknown_float_0;
struct psmv_f32_wire unknown_float_1;
@ -323,6 +298,15 @@ struct psmv_parsed_calibration
/*!
* A single PlayStation Move Controller.
*
* A note about coordinate system. If you stand the controller in front of you
* so that the ball is pointing upward, buttons towards you. Then think of the
* ball as a head that is looking away from you. The buttons then are is it's
* back, the trigger the front.
*
* Translated to axis that means the ball is on the Y+ axis, the buttons on the
* Z+ axis, the trigger on the Z- axis, the USB port on the Y- axis, the start
* button on the X+ axis, select button on the X- axis.
*
* @ingroup drv_psmv
*/
struct psmv_device
@ -444,23 +428,6 @@ psmv_i32_from_i16_wire(int32_t *to, const struct psmv_i16_wire *from)
*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
psmv_from_vec3_i16_zn_wire(struct xrt_vec3_i32 *to,
const struct psmv_vec3_i16_zn_wire *from)
{
psmv_i32_from_i16_wire(&to->x, &from->x);
psmv_i32_from_i16_wire(&to->y, &from->y);
psmv_i32_from_i16_wire_neg(&to->z, &from->z_neg);
}
static void
psmv_from_vec3_i16_wire(struct xrt_vec3_i32 *to,
const struct psmv_vec3_i16_wire *from)
@ -484,24 +451,7 @@ psmv_f32_from_wire(float *to, const struct psmv_f32_wire *from)
}
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
psmv_from_vec3_f32_zn_wire(struct xrt_vec3 *to,
const struct psmv_vec3_f32_zn_wire *from)
{
psmv_f32_from_wire(&to->x, &from->x);
psmv_f32_from_wire(&to->y, &from->y);
psmv_f32_from_wire_neg(&to->z, &from->z_neg);
}
static void
psmv_from_vec32_f32_wire(struct xrt_vec3 *to,
psmv_from_vec3_f32_wire(struct xrt_vec3 *to,
const struct psmv_vec3_f32_wire *from)
{
psmv_f32_from_wire(&to->x, &from->x);
@ -980,19 +930,19 @@ psmv_get_calibration_zcm1(struct psmv_device *psmv)
sizeof(part) - src_offset);
}
psmv_from_vec3_i16_zn_wire(&zcm1->accel_min_x, &data.accel_min_x);
psmv_from_vec3_i16_zn_wire(&zcm1->accel_max_x, &data.accel_max_x);
psmv_from_vec3_i16_zn_wire(&zcm1->accel_min_y, &data.accel_min_y);
psmv_from_vec3_i16_zn_wire(&zcm1->accel_max_y, &data.accel_max_y);
psmv_from_vec3_i16_zn_wire(&zcm1->accel_min_z, &data.accel_min_z);
psmv_from_vec3_i16_zn_wire(&zcm1->accel_max_z, &data.accel_max_z);
psmv_from_vec3_i16_wire(&zcm1->accel_min_x, &data.accel_min_x);
psmv_from_vec3_i16_wire(&zcm1->accel_max_x, &data.accel_max_x);
psmv_from_vec3_i16_wire(&zcm1->accel_min_y, &data.accel_min_y);
psmv_from_vec3_i16_wire(&zcm1->accel_max_y, &data.accel_max_y);
psmv_from_vec3_i16_wire(&zcm1->accel_min_z, &data.accel_min_z);
psmv_from_vec3_i16_wire(&zcm1->accel_max_z, &data.accel_max_z);
psmv_from_vec3_i16_wire(&zcm1->gyro_bias_0, &data.gyro_bias_0);
psmv_from_vec3_i16_wire(&zcm1->gyro_bias_1, &data.gyro_bias_1);
psmv_from_vec3_i16_wire(&zcm1->gyro_rot_x, &data.gyro_rot_x);
psmv_from_vec3_i16_wire(&zcm1->gyro_rot_y, &data.gyro_rot_y);
psmv_from_vec3_i16_wire(&zcm1->gyro_rot_z, &data.gyro_rot_z);
psmv_from_vec32_f32_wire(&zcm1->gyro_fact, &data.gyro_fact);
psmv_from_vec3_f32_zn_wire(&zcm1->unknown_vec3, &data.unknown_vec3);
psmv_from_vec3_f32_wire(&zcm1->gyro_fact, &data.gyro_fact);
psmv_from_vec3_f32_wire(&zcm1->unknown_vec3, &data.unknown_vec3);
psmv_f32_from_wire(&zcm1->unknown_float_0, &data.unknown_float_0);
psmv_f32_from_wire(&zcm1->unknown_float_1, &data.unknown_float_1);
@ -1109,12 +1059,12 @@ psmv_parse_input_zcm1(
input->timestamp |= data->timestamp_high << 8;
input->sample[0].trigger = data->trigger_f1;
psmv_from_vec3_i16_zn_wire(&input->sample[0].accel, &data->accel_f1);
psmv_from_vec3_i16_zn_wire(&input->sample[0].gyro, &data->gyro_f1);
psmv_from_vec3_i16_wire(&input->sample[0].accel, &data->accel_f1);
psmv_from_vec3_i16_wire(&input->sample[0].gyro, &data->gyro_f1);
input->sample[1].trigger = data->trigger_f2;
psmv_from_vec3_i16_zn_wire(&input->sample[1].accel, &data->accel_f2);
psmv_from_vec3_i16_zn_wire(&input->sample[1].gyro, &data->gyro_f2);
psmv_from_vec3_i16_wire(&input->sample[1].accel, &data->accel_f2);
psmv_from_vec3_i16_wire(&input->sample[1].gyro, &data->gyro_f2);
uint32_t diff = psmv_calc_delta_and_handle_rollover(
input->timestamp, psmv->last.timestamp);