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d/psvr: Can we get some info out of the calibration data

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This commit is contained in:
Jakob Bornecrantz 2019-10-26 17:16:06 +01:00
parent 845af78c20
commit a54cdb2632
1 changed files with 69 additions and 0 deletions
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69
src/xrt/drivers/psvr/psvr_device.c
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@ -89,6 +89,33 @@ struct psvr_device
{
union {
uint8_t data[290];
struct
{
uint32_t _pad0[4];
struct xrt_vec3 unknown0;
uint32_t _zero0;
uint32_t _pad2_vec3_zero[4];
uint32_t _pad3_vec3_zero[4];
uint32_t _pad4_vec3_zero[4];
struct xrt_vec3 accel_pos_y;
uint32_t _pad5[1];
struct xrt_vec3 accel_neg_x;
uint32_t _pad6[1];
struct xrt_vec3 accel_neg_y;
uint32_t _pad7[1];
struct xrt_vec3 accel_pos_x;
uint32_t _pad8[1];
struct xrt_vec3 accel_pos_z;
uint32_t _pad9[1];
struct xrt_vec3 accel_neg_z;
uint32_t _pad10[1];
struct xrt_vec3 gyro_neg_y;
uint32_t _pad11[1];
struct xrt_vec3 gyro_pos_x;
uint32_t _pad12[1];
struct xrt_vec3 gyro_neg_z;
uint32_t _pad13[1];
};
};
int last_packet;
} calibration;
@ -232,6 +259,30 @@ read_sample_and_apply_calibration(struct psvr_device *psvr,
raw_gyro.z * 0.00105,
};
float ax = 2.0 / (psvr->calibration.accel_pos_x.x -
psvr->calibration.accel_neg_x.x);
float ay = 2.0 / (psvr->calibration.accel_pos_y.y -
psvr->calibration.accel_neg_y.y);
float az = 2.0 / (psvr->calibration.accel_pos_z.z -
psvr->calibration.accel_neg_z.z);
float ox = (psvr->calibration.accel_pos_x.x +
psvr->calibration.accel_neg_x.x) /
2.0;
float oy = (psvr->calibration.accel_pos_y.y +
psvr->calibration.accel_neg_y.y) /
2.0;
float oz = (psvr->calibration.accel_pos_z.z +
psvr->calibration.accel_neg_z.z) /
2.0;
accel.x -= ox;
accel.y -= oy;
accel.z -= oz;
accel.x *= ax;
accel.y *= ay;
accel.z *= az;
// Go from Gs to m/s2 and flip the Z-axis.
accel.x *= +MATH_GRAVITY_M_S2;
accel.y *= +MATH_GRAVITY_M_S2;
@ -527,6 +578,24 @@ read_calibration_data(struct psvr_device *psvr)
return -1;
}
PSVR_DEBUG(
psvr,
"calibration.accel_pos_x: %f %f %f\n"
"calibration.accel_neg_x: %f %f %f\n"
"calibration.accel_pos_y: %f %f %f\n"
"calibration.accel_neg_y: %f %f %f\n"
"calibration.accel_pos_z: %f %f %f\n"
"calibration.accel_neg_z: %f %f %f\n",
psvr->calibration.accel_pos_x.x, psvr->calibration.accel_pos_x.y,
psvr->calibration.accel_pos_x.z, psvr->calibration.accel_neg_x.x,
psvr->calibration.accel_neg_x.y, psvr->calibration.accel_neg_x.z,
psvr->calibration.accel_pos_y.x, psvr->calibration.accel_pos_y.y,
psvr->calibration.accel_pos_y.z, psvr->calibration.accel_neg_y.x,
psvr->calibration.accel_neg_y.y, psvr->calibration.accel_neg_y.z,
psvr->calibration.accel_pos_z.x, psvr->calibration.accel_pos_z.y,
psvr->calibration.accel_pos_z.z, psvr->calibration.accel_neg_z.x,
psvr->calibration.accel_neg_z.y, psvr->calibration.accel_neg_z.z);
#if 0
for (size_t i = 0; i < sizeof(psvr->calibration.data); i++) {
fprintf(stderr, "%02x ", psvr->calibration.data[i]);