mirror of
https://gitlab.freedesktop.org/monado/monado.git
synced 2024-12-28 18:46:18 +00:00
d/psmv: Refactor calibration and make room for ZCM2
This commit is contained in:
Jakob Bornecrantz
parent
b5c7f080de
commit
932b8dfd70
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@ -196,7 +196,7 @@ struct psmv_vec3_i16_wire
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*
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* @ingroup drv_psmv
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*/
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struct psmv_get_input
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struct psmv_input_zcm1
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{
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uint8_t header;
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uint8_t buttons[4];
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@ -281,47 +281,8 @@ struct psmv_parsed_input
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struct psmv_parsed_sample sample[2];
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};
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/*!
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* A single PlayStation Move Controller.
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*
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* @ingroup drv_psmv
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*/
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struct psmv_device
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struct psmv_parsed_calibration_zcm1
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{
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struct xrt_device base;
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struct os_hid_device *hid;
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struct os_thread_helper oth;
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struct
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{
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int64_t resend_time;
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struct xrt_colour_rgb_u8 led;
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uint8_t rumble;
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} wants;
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struct
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{
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struct xrt_colour_rgb_u8 led;
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uint8_t rumble;
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} state;
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struct
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{
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//! Lock for last and fusion.
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struct os_mutex lock;
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//! Last sensor read.
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struct psmv_parsed_input last;
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struct
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{
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struct xrt_quat rot;
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} fusion;
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};
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struct xrt_vec3_i32 accel_min_x;
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struct xrt_vec3_i32 accel_max_x;
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struct xrt_vec3_i32 accel_min_y;
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@ -351,6 +312,73 @@ struct psmv_device
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struct xrt_vec3 unknown_vec3;
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float unknown_float_0, unknown_float_1;
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};
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struct psmv_parsed_calibration
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{
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struct psmv_parsed_calibration_zcm1 zcm1;
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};
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/*!
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* A single PlayStation Move Controller.
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*
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* @ingroup drv_psmv
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*/
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struct psmv_device
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{
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struct xrt_device base;
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struct os_hid_device *hid;
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struct os_thread_helper oth;
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struct
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{
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int64_t resend_time;
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struct xrt_colour_rgb_u8 led;
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uint8_t rumble;
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} wants;
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struct
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{
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struct xrt_colour_rgb_u8 led;
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uint8_t rumble;
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} state;
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struct
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{
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union {
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struct psmv_parsed_calibration_zcm1 zcm1;
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};
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struct
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{
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struct xrt_vec3 factor;
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struct xrt_vec3 bias;
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} accel;
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struct
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{
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struct xrt_vec3 factor;
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struct xrt_vec3 bias;
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} gyro;
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} calibration;
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struct
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{
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//! Lock for last and fusion.
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struct os_mutex lock;
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//! Last sensor read.
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struct psmv_parsed_input last;
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struct
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{
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struct xrt_quat rot;
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} fusion;
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};
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struct
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{
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@ -495,39 +523,19 @@ update_fusion(struct psmv_device *psmv,
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struct xrt_vec3_i32 *ra = &sample->accel;
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struct xrt_vec3_i32 *rg = &sample->gyro;
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//! @todo Pre-calculate this.
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double ax = (psmv->accel_max_x.x - psmv->accel_min_x.x) / 2.0;
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double ay = (psmv->accel_max_y.y - psmv->accel_min_y.y) / 2.0;
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double az = (psmv->accel_max_z.z - psmv->accel_min_z.z) / 2.0;
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psmv->read.accel.x = (ra->x + psmv->calibration.accel.bias.x) *
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psmv->calibration.accel.factor.x;
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psmv->read.accel.y = (ra->y + psmv->calibration.accel.bias.y) *
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psmv->calibration.accel.factor.y;
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psmv->read.accel.z = (ra->z + psmv->calibration.accel.bias.z) *
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psmv->calibration.accel.factor.z;
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double bx = (psmv->accel_min_y.x + psmv->accel_max_y.x +
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psmv->accel_min_z.x + psmv->accel_max_z.x) /
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-4.0;
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double by = (psmv->accel_min_x.y + psmv->accel_max_x.y +
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psmv->accel_min_z.y + psmv->accel_max_z.y) /
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-4.0;
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double bz = (psmv->accel_min_x.z + psmv->accel_max_x.z +
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psmv->accel_min_y.z + psmv->accel_max_y.z) /
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-4.0;
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psmv->read.accel.x = (ra->x + bx) / ax;
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psmv->read.accel.y = (ra->y + by) / ay;
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psmv->read.accel.z = (ra->z + bz) / az;
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double gx =
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(psmv->gyro_rot_x.x - (psmv->gyro_bias_0.x * psmv->gyro_fact.x));
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double gy =
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(psmv->gyro_rot_y.y - (psmv->gyro_bias_0.y * psmv->gyro_fact.y));
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double gz =
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(psmv->gyro_rot_z.z - (psmv->gyro_bias_0.z * psmv->gyro_fact.z));
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gx = (2.0 * M_PI * 80.0) / (60.0 * gx);
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gy = (2.0 * M_PI * 80.0) / (60.0 * gy);
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gz = (2.0 * M_PI * 80.0) / (60.0 * gz);
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psmv->read.gyro.x = rg->x * gx;
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psmv->read.gyro.y = rg->y * gy;
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psmv->read.gyro.z = rg->z * gz;
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psmv->read.gyro.x = (rg->x + psmv->calibration.gyro.bias.x) *
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psmv->calibration.gyro.factor.x;
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psmv->read.gyro.y = (rg->y + psmv->calibration.gyro.bias.y) *
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psmv->calibration.gyro.factor.y;
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psmv->read.gyro.z = (rg->z + psmv->calibration.gyro.bias.z) *
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psmv->calibration.gyro.factor.z;
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// Super simple fusion.
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math_quat_integrate_velocity(&psmv->fusion.rot, &psmv->read.gyro, dt,
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@ -560,15 +568,21 @@ psmv_read_one_packet(struct psmv_device *psmv, uint8_t *buffer, size_t size)
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return false;
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}
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static void *
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psmv_run_thread(void *ptr)
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static void
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psmv_parse_input_zcm1(
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struct psmv_device *psmv,
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struct psmv_input_zcm1 *data,
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struct psmv_parsed_input *input);
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static void *psmv_run_thread(void *ptr)
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{
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struct psmv_device *psmv = (struct psmv_device *)ptr;
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struct time_state *time = time_state_create();
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union {
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uint8_t buffer[256];
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struct psmv_get_input input;
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struct psmv_input_zcm1 input;
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} data;
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struct psmv_parsed_input input = {0};
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@ -589,53 +603,7 @@ psmv_run_thread(void *ptr)
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timepoint_ns now_ns = time_state_get_now(time);
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input.battery = data.input.battery;
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input.seq_no = data.input.buttons[3] & 0x0f;
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input.buttons |= data.input.buttons[0] << 24;
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input.buttons |= data.input.buttons[1] << 16;
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input.buttons |= data.input.buttons[2] << 8;
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input.buttons |= data.input.buttons[3] & 0xf0;
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input.timestamp |= data.input.timestamp_low;
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input.timestamp |= data.input.timestamp_high << 8;
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input.sample[0].trigger = data.input.trigger_f1;
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psmv_from_vec3_i16_zn_wire(&input.sample[0].accel,
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&data.input.accel_f1);
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psmv_from_vec3_i16_zn_wire(&input.sample[0].gyro,
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&data.input.gyro_f1);
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input.sample[1].trigger = data.input.trigger_f2;
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psmv_from_vec3_i16_zn_wire(&input.sample[1].accel,
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&data.input.accel_f2);
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psmv_from_vec3_i16_zn_wire(&input.sample[1].gyro,
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&data.input.gyro_f2);
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uint32_t diff = psmv_calc_delta_and_handle_rollover(
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input.timestamp, psmv->last.timestamp);
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bool missed = input.seq_no != ((psmv->last.seq_no + 1) & 0x0f);
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PSMV_SPEW(psmv,
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"\n\t"
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"missed: %s\n\t"
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"buttons: %08x\n\t"
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"battery: %x\n\t"
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"sample[0].trigger: %02x\n\t"
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"sample[0].accel_x: %i\n\t"
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"sample[0].accel_y: %i\n\t"
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"sample[0].accel_z: %i\n\t"
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"sample[0].gyro_x: %i\n\t"
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"sample[0].gyro_y: %i\n\t"
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"sample[0].gyro_z: %i\n\t"
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"sample[1].trigger: %02x\n\t"
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"timestamp: %i\n\t"
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"diff: %i\n\t"
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"seq_no: %x\n",
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missed ? "yes" : "no", input.buttons, input.battery,
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input.sample[0].trigger, input.sample[0].accel.x,
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input.sample[0].accel.y, input.sample[0].accel.z,
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input.sample[0].gyro.x, input.sample[0].gyro.y,
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input.sample[0].gyro.z, input.sample[1].trigger,
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input.timestamp, diff, input.seq_no);
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psmv_parse_input_zcm1(psmv, &data.input, &input);
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float dt = time_ns_to_s(now_ns - then_ns);
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then_ns = now_ns;
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@ -719,99 +687,7 @@ psmv_led_and_trigger_update(struct psmv_device *psmv, int64_t time)
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}
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static int
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psmv_get_calibration(struct psmv_device *psmv)
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{
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struct psmv_calibration_zcm1 data;
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uint8_t *dst = (uint8_t *)&data;
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int ret = 0;
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size_t src_offset, dst_offset;
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for (int i = 0; i < 3; i++) {
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struct psmv_calibration_part part = {0};
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uint8_t *src = (uint8_t *)∂
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part.id = 0x10;
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ret = os_hid_get_feature(psmv->hid, 0x10, src, sizeof(part));
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if (ret < 0) {
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return ret;
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}
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if (ret != (int)sizeof(part)) {
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return -1;
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}
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switch (part.which) {
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case 0x00:
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src_offset = 0;
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dst_offset = 0;
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break;
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case 0x01:
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src_offset = 2;
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dst_offset = sizeof(part);
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break;
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case 0x82:
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src_offset = 2;
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dst_offset = sizeof(part) * 2 - 2;
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break;
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default: return -1;
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}
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memcpy(dst + dst_offset, src + src_offset,
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sizeof(part) - src_offset);
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}
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psmv_from_vec3_i16_zn_wire(&psmv->accel_min_x, &data.accel_min_x);
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psmv_from_vec3_i16_zn_wire(&psmv->accel_max_x, &data.accel_max_x);
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psmv_from_vec3_i16_zn_wire(&psmv->accel_min_y, &data.accel_min_y);
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psmv_from_vec3_i16_zn_wire(&psmv->accel_max_y, &data.accel_max_y);
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psmv_from_vec3_i16_zn_wire(&psmv->accel_min_z, &data.accel_min_z);
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psmv_from_vec3_i16_zn_wire(&psmv->accel_max_z, &data.accel_max_z);
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psmv_from_vec3_i16_wire(&psmv->gyro_bias_0, &data.gyro_bias_0);
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psmv_from_vec3_i16_wire(&psmv->gyro_bias_1, &data.gyro_bias_1);
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psmv_from_vec3_i16_wire(&psmv->gyro_rot_x, &data.gyro_rot_x);
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psmv_from_vec3_i16_wire(&psmv->gyro_rot_y, &data.gyro_rot_y);
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psmv_from_vec3_i16_wire(&psmv->gyro_rot_z, &data.gyro_rot_z);
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psmv_from_vec32_f32_wire(&psmv->gyro_fact, &data.gyro_fact);
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psmv_from_vec3_f32_zn_wire(&psmv->unknown_vec3, &data.unknown_vec3);
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psmv_f32_from_wire(&psmv->unknown_float_0, &data.unknown_float_0);
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psmv_f32_from_wire(&psmv->unknown_float_1, &data.unknown_float_1);
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PSMV_DEBUG(
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psmv,
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"Calibration:\n"
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"\taccel_min_x: %i %i %i\n"
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"\taccel_max_x: %i %i %i\n"
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"\taccel_min_y: %i %i %i\n"
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"\taccel_max_y: %i %i %i\n"
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"\taccel_min_z: %i %i %i\n"
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"\taccel_max_z: %i %i %i\n"
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"\tgyro_bias_0: %i %i %i\n"
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"\tgyro_bias_1: %i %i %i\n"
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"\tgyro_fact: %f %f %f\n"
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"\tgyro_rot_x: %i %i %i\n"
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"\tgyro_rot_y: %i %i %i\n"
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"\tgyro_rot_z: %i %i %i\n"
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"\tunknown_vec3: %f %f %f\n"
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"\tunknown_float_0 %f\n"
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"\tunknown_float_1 %f\n",
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psmv->accel_min_x.x, psmv->accel_min_x.y, psmv->accel_min_x.z,
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psmv->accel_max_x.x, psmv->accel_max_x.y, psmv->accel_max_x.z,
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psmv->accel_min_y.x, psmv->accel_min_y.y, psmv->accel_min_y.z,
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psmv->accel_max_y.x, psmv->accel_max_y.y, psmv->accel_max_y.z,
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psmv->accel_min_z.x, psmv->accel_min_z.y, psmv->accel_min_z.z,
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psmv->accel_max_z.x, psmv->accel_max_z.y, psmv->accel_max_z.z,
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psmv->gyro_bias_0.x, psmv->gyro_bias_0.y, psmv->gyro_bias_0.z,
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psmv->gyro_bias_1.x, psmv->gyro_bias_1.y, psmv->gyro_bias_1.z,
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psmv->gyro_fact.x, psmv->gyro_fact.y, psmv->gyro_fact.z,
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psmv->gyro_rot_x.x, psmv->gyro_rot_x.y, psmv->gyro_rot_x.z,
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psmv->gyro_rot_y.x, psmv->gyro_rot_y.y, psmv->gyro_rot_y.z,
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psmv->gyro_rot_z.x, psmv->gyro_rot_z.y, psmv->gyro_rot_z.z,
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psmv->unknown_vec3.x, psmv->unknown_vec3.y, psmv->unknown_vec3.z,
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psmv->unknown_float_0, psmv->unknown_float_1);
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return 0;
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}
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psmv_get_calibration_zcm1(struct psmv_device *psmv);
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/*
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@ -996,7 +872,7 @@ psmv_found(struct xrt_prober *xp,
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}
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// Get calibration data.
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ret = psmv_get_calibration(psmv);
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ret = psmv_get_calibration_zcm1(psmv);
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if (ret != 0) {
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PSMV_ERROR(psmv, "Failed to get calibration data!");
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psmv_device_destroy(&psmv->base);
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@ -1017,18 +893,22 @@ psmv_found(struct xrt_prober *xp,
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// clang-format off
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u_var_add_root(psmv, "PSMV Controller", true);
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u_var_add_gui_header(psmv, &psmv->gui.calibration, "Calibration");
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u_var_add_vec3_i32(psmv, &psmv->accel_min_x, "accel_min_x");
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u_var_add_vec3_i32(psmv, &psmv->accel_max_x, "accel_max_x");
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u_var_add_vec3_i32(psmv, &psmv->accel_min_y, "accel_min_y");
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u_var_add_vec3_i32(psmv, &psmv->accel_max_y, "accel_max_y");
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u_var_add_vec3_i32(psmv, &psmv->accel_min_z, "accel_min_z");
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u_var_add_vec3_i32(psmv, &psmv->accel_max_z, "accel_max_z");
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u_var_add_vec3_i32(psmv, &psmv->gyro_rot_x, "gyro_rot_x");
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u_var_add_vec3_i32(psmv, &psmv->gyro_rot_y, "gyro_rot_y");
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u_var_add_vec3_i32(psmv, &psmv->gyro_rot_z, "gyro_rot_z");
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u_var_add_vec3_i32(psmv, &psmv->gyro_bias_0, "gyro_bias_0");
|
||||
u_var_add_vec3_i32(psmv, &psmv->gyro_bias_1, "gyro_bias_1");
|
||||
u_var_add_vec3_f32(psmv, &psmv->gyro_fact, "gyro_fact");
|
||||
u_var_add_vec3_i32(psmv, &psmv->calibration.zcm1.accel_min_x, "zcm1.accel_min_x");
|
||||
u_var_add_vec3_i32(psmv, &psmv->calibration.zcm1.accel_max_x, "zcm1.accel_max_x");
|
||||
u_var_add_vec3_i32(psmv, &psmv->calibration.zcm1.accel_min_y, "zcm1.accel_min_y");
|
||||
u_var_add_vec3_i32(psmv, &psmv->calibration.zcm1.accel_max_y, "zcm1.accel_max_y");
|
||||
u_var_add_vec3_i32(psmv, &psmv->calibration.zcm1.accel_min_z, "zcm1.accel_min_z");
|
||||
u_var_add_vec3_i32(psmv, &psmv->calibration.zcm1.accel_max_z, "zcm1.accel_max_z");
|
||||
u_var_add_vec3_i32(psmv, &psmv->calibration.zcm1.gyro_rot_x, "zcm1.gyro_rot_x");
|
||||
u_var_add_vec3_i32(psmv, &psmv->calibration.zcm1.gyro_rot_y, "zcm1.gyro_rot_y");
|
||||
u_var_add_vec3_i32(psmv, &psmv->calibration.zcm1.gyro_rot_z, "zcm1.gyro_rot_z");
|
||||
u_var_add_vec3_i32(psmv, &psmv->calibration.zcm1.gyro_bias_0, "zcm1.gyro_bias_0");
|
||||
u_var_add_vec3_i32(psmv, &psmv->calibration.zcm1.gyro_bias_1, "zcm1.gyro_bias_1");
|
||||
u_var_add_vec3_f32(psmv, &psmv->calibration.zcm1.gyro_fact, "zcm1.gyro_fact");
|
||||
u_var_add_vec3_f32(psmv, &psmv->calibration.accel.factor, "accel.factor");
|
||||
u_var_add_vec3_f32(psmv, &psmv->calibration.accel.bias, "accel.bias");
|
||||
u_var_add_vec3_f32(psmv, &psmv->calibration.gyro.factor, "gyro.factor");
|
||||
u_var_add_vec3_f32(psmv, &psmv->calibration.gyro.bias, "gyro.bias");
|
||||
u_var_add_gui_header(psmv, &psmv->gui.last_frame, "Last data");
|
||||
u_var_add_ro_vec3_i32(psmv, &psmv->last.sample[0].accel, "last.sample[0].accel");
|
||||
u_var_add_ro_vec3_i32(psmv, &psmv->last.sample[1].accel, "last.sample[1].accel");
|
||||
|
|
@ -1048,3 +928,223 @@ psmv_found(struct xrt_prober *xp,
|
|||
|
||||
return 1;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
*
|
||||
* Packet functions ZCM1
|
||||
*
|
||||
*/
|
||||
|
||||
static int
|
||||
psmv_get_calibration_zcm1(struct psmv_device *psmv)
|
||||
{
|
||||
struct psmv_parsed_calibration_zcm1 *zcm1 = &psmv->calibration.zcm1;
|
||||
struct psmv_calibration_zcm1 data;
|
||||
uint8_t *dst = (uint8_t *)&data;
|
||||
int ret = 0;
|
||||
size_t src_offset, dst_offset;
|
||||
|
||||
for (int i = 0; i < 3; i++) {
|
||||
struct psmv_calibration_part part = {0};
|
||||
uint8_t *src = (uint8_t *)∂
|
||||
|
||||
part.id = 0x10;
|
||||
|
||||
ret = os_hid_get_feature(psmv->hid, 0x10, src, sizeof(part));
|
||||
if (ret < 0) {
|
||||
return ret;
|
||||
}
|
||||
|
||||
if (ret != (int)sizeof(part)) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
switch (part.which) {
|
||||
case 0x00:
|
||||
src_offset = 0;
|
||||
dst_offset = 0;
|
||||
break;
|
||||
case 0x01:
|
||||
src_offset = 2;
|
||||
dst_offset = sizeof(part);
|
||||
break;
|
||||
case 0x82:
|
||||
src_offset = 2;
|
||||
dst_offset = sizeof(part) * 2 - 2;
|
||||
break;
|
||||
default: return -1;
|
||||
}
|
||||
|
||||
memcpy(dst + dst_offset, src + src_offset,
|
||||
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->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_f32_from_wire(&zcm1->unknown_float_0, &data.unknown_float_0);
|
||||
psmv_f32_from_wire(&zcm1->unknown_float_1, &data.unknown_float_1);
|
||||
|
||||
|
||||
/*
|
||||
* Acceleration
|
||||
*/
|
||||
|
||||
psmv->calibration.accel.factor.x =
|
||||
1.0 / ((zcm1->accel_max_x.x - zcm1->accel_min_x.x) / 2.0);
|
||||
psmv->calibration.accel.factor.y =
|
||||
1.0 / ((zcm1->accel_max_y.y - zcm1->accel_min_y.y) / 2.0);
|
||||
psmv->calibration.accel.factor.z =
|
||||
1.0 / ((zcm1->accel_max_z.z - zcm1->accel_min_z.z) / 2.0);
|
||||
|
||||
psmv->calibration.accel.bias.x =
|
||||
(zcm1->accel_min_y.x + zcm1->accel_max_y.x + zcm1->accel_min_z.x +
|
||||
zcm1->accel_max_z.x) /
|
||||
-4.0;
|
||||
psmv->calibration.accel.bias.y =
|
||||
(zcm1->accel_min_x.y + zcm1->accel_max_x.y + zcm1->accel_min_z.y +
|
||||
zcm1->accel_max_z.y) /
|
||||
-4.0;
|
||||
psmv->calibration.accel.bias.z =
|
||||
(zcm1->accel_min_x.z + zcm1->accel_max_x.z + zcm1->accel_min_y.z +
|
||||
zcm1->accel_max_y.z) /
|
||||
-4.0;
|
||||
|
||||
|
||||
/*
|
||||
* Gyro
|
||||
*/
|
||||
|
||||
double gx =
|
||||
(zcm1->gyro_rot_x.x - (zcm1->gyro_bias_0.x * zcm1->gyro_fact.x));
|
||||
double gy =
|
||||
(zcm1->gyro_rot_y.y - (zcm1->gyro_bias_0.y * zcm1->gyro_fact.y));
|
||||
double gz =
|
||||
(zcm1->gyro_rot_z.z - (zcm1->gyro_bias_0.z * zcm1->gyro_fact.z));
|
||||
|
||||
psmv->calibration.gyro.factor.x = (2.0 * M_PI * 80.0) / (60.0 * gx);
|
||||
psmv->calibration.gyro.factor.y = (2.0 * M_PI * 80.0) / (60.0 * gy);
|
||||
psmv->calibration.gyro.factor.z = (2.0 * M_PI * 80.0) / (60.0 * gz);
|
||||
psmv->calibration.gyro.bias.x = 0.0;
|
||||
psmv->calibration.gyro.bias.y = 0.0;
|
||||
psmv->calibration.gyro.bias.z = 0.0;
|
||||
|
||||
|
||||
/*
|
||||
* Print
|
||||
*/
|
||||
|
||||
PSMV_DEBUG(
|
||||
psmv,
|
||||
"Calibration:\n"
|
||||
"\taccel_min_x: %i %i %i\n"
|
||||
"\taccel_max_x: %i %i %i\n"
|
||||
"\taccel_min_y: %i %i %i\n"
|
||||
"\taccel_max_y: %i %i %i\n"
|
||||
"\taccel_min_z: %i %i %i\n"
|
||||
"\taccel_max_z: %i %i %i\n"
|
||||
"\tgyro_bias_0: %i %i %i\n"
|
||||
"\tgyro_bias_1: %i %i %i\n"
|
||||
"\tgyro_fact: %f %f %f\n"
|
||||
"\tgyro_rot_x: %i %i %i\n"
|
||||
"\tgyro_rot_y: %i %i %i\n"
|
||||
"\tgyro_rot_z: %i %i %i\n"
|
||||
"\tunknown_vec3: %f %f %f\n"
|
||||
"\tunknown_float_0 %f\n"
|
||||
"\tunknown_float_1 %f\n"
|
||||
"Calculated:\n"
|
||||
"\taccel.factor: %f %f %f\n"
|
||||
"\taccel.bias: %f %f %f\n"
|
||||
"\tgyro.factor: %f %f %f\n"
|
||||
"\tgyro.bias: %f %f %f\n",
|
||||
zcm1->accel_min_x.x, zcm1->accel_min_x.y, zcm1->accel_min_x.z,
|
||||
zcm1->accel_max_x.x, zcm1->accel_max_x.y, zcm1->accel_max_x.z,
|
||||
zcm1->accel_min_y.x, zcm1->accel_min_y.y, zcm1->accel_min_y.z,
|
||||
zcm1->accel_max_y.x, zcm1->accel_max_y.y, zcm1->accel_max_y.z,
|
||||
zcm1->accel_min_z.x, zcm1->accel_min_z.y, zcm1->accel_min_z.z,
|
||||
zcm1->accel_max_z.x, zcm1->accel_max_z.y, zcm1->accel_max_z.z,
|
||||
zcm1->gyro_bias_0.x, zcm1->gyro_bias_0.y, zcm1->gyro_bias_0.z,
|
||||
zcm1->gyro_bias_1.x, zcm1->gyro_bias_1.y, zcm1->gyro_bias_1.z,
|
||||
zcm1->gyro_fact.x, zcm1->gyro_fact.y, zcm1->gyro_fact.z,
|
||||
zcm1->gyro_rot_x.x, zcm1->gyro_rot_x.y, zcm1->gyro_rot_x.z,
|
||||
zcm1->gyro_rot_y.x, zcm1->gyro_rot_y.y, zcm1->gyro_rot_y.z,
|
||||
zcm1->gyro_rot_z.x, zcm1->gyro_rot_z.y, zcm1->gyro_rot_z.z,
|
||||
zcm1->unknown_vec3.x, zcm1->unknown_vec3.y, zcm1->unknown_vec3.z,
|
||||
zcm1->unknown_float_0, zcm1->unknown_float_1,
|
||||
psmv->calibration.accel.factor.x, psmv->calibration.accel.factor.y,
|
||||
psmv->calibration.accel.factor.z, psmv->calibration.accel.bias.x,
|
||||
psmv->calibration.accel.bias.y, psmv->calibration.accel.bias.z,
|
||||
psmv->calibration.gyro.factor.x, psmv->calibration.gyro.factor.y,
|
||||
psmv->calibration.gyro.factor.z, psmv->calibration.gyro.bias.x,
|
||||
psmv->calibration.gyro.bias.y, psmv->calibration.gyro.bias.z);
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
static void
|
||||
psmv_parse_input_zcm1(
|
||||
struct psmv_device *psmv,
|
||||
struct psmv_input_zcm1 *data,
|
||||
struct psmv_parsed_input *input)
|
||||
{
|
||||
input->battery = data->battery;
|
||||
input->seq_no = data->buttons[3] & 0x0f;
|
||||
|
||||
input->buttons |= data->buttons[0] << 24;
|
||||
input->buttons |= data->buttons[1] << 16;
|
||||
input->buttons |= data->buttons[2] << 8;
|
||||
input->buttons |= data->buttons[3] & 0xf0;
|
||||
input->timestamp |= data->timestamp_low;
|
||||
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);
|
||||
|
||||
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);
|
||||
|
||||
uint32_t diff = psmv_calc_delta_and_handle_rollover(
|
||||
input->timestamp, psmv->last.timestamp);
|
||||
bool missed = input->seq_no != ((psmv->last.seq_no + 1) & 0x0f);
|
||||
|
||||
|
||||
/*
|
||||
* Print
|
||||
*/
|
||||
|
||||
PSMV_SPEW(psmv,
|
||||
"\n\t"
|
||||
"missed: %s\n\t"
|
||||
"buttons: %08x\n\t"
|
||||
"battery: %x\n\t"
|
||||
"sample[0].trigger: %02x\n\t"
|
||||
"sample[0].accel_x: %i\n\t"
|
||||
"sample[0].accel_y: %i\n\t"
|
||||
"sample[0].accel_z: %i\n\t"
|
||||
"sample[0].gyro_x: %i\n\t"
|
||||
"sample[0].gyro_y: %i\n\t"
|
||||
"sample[0].gyro_z: %i\n\t"
|
||||
"sample[1].trigger: %02x\n\t"
|
||||
"timestamp: %i\n\t"
|
||||
"diff: %i\n\t"
|
||||
"seq_no: %x\n",
|
||||
missed ? "yes" : "no", input->buttons, input->battery,
|
||||
input->sample[0].trigger, input->sample[0].accel.x,
|
||||
input->sample[0].accel.y, input->sample[0].accel.z,
|
||||
input->sample[0].gyro.x, input->sample[0].gyro.y,
|
||||
input->sample[0].gyro.z, input->sample[1].trigger,
|
||||
input->timestamp, diff, input->seq_no);
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in a new issue