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d/psmv: Shouldn't negate Z-axis in gyro calibration data

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This commit is contained in:
Jakob Bornecrantz 2019-09-11 18:09:11 +01:00
parent 5b02974ae0
commit c5e5c98c9c
1 changed files with 80 additions and 38 deletions
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118
src/xrt/drivers/psmv/psmv_driver.c
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@ -131,13 +131,25 @@ struct psmv_f32_wire
*
* @ingroup drv_psmv
*/
struct psmv_vec3_f32_wire
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.
*
* @ingroup drv_psmv
*/
struct psmv_vec3_f32_wire
{
struct psmv_f32_wire x;
struct psmv_f32_wire z;
struct psmv_f32_wire y;
};
/*!
* Wire encoding of a single 16 bit integer, big endian.
*
@ -154,13 +166,25 @@ struct psmv_i16_wire
*
* @ingroup drv_psmv
*/
struct psmv_vec3_i16_wire
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.
*
* @ingroup drv_psmv
*/
struct psmv_vec3_i16_wire
{
struct psmv_i16_wire x;
struct psmv_i16_wire z;
struct psmv_i16_wire y;
};
/*!
* Input package.
*
@ -175,10 +199,10 @@ struct psmv_get_input
uint8_t unknown[4];
uint8_t timestamp_high;
uint8_t battery;
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;
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;
uint8_t temp_mag[6];
uint8_t timestamp_low;
uint8_t pad[49 - 44];
@ -206,12 +230,12 @@ struct psmv_calibration_zcm1
uint8_t id;
uint8_t which;
uint16_t _pad0;
struct psmv_vec3_i16_wire accel_max_y;
struct psmv_vec3_i16_wire accel_min_x;
struct psmv_vec3_i16_wire accel_min_y;
struct psmv_vec3_i16_wire accel_max_x;
struct psmv_vec3_i16_wire accel_min_z;
struct psmv_vec3_i16_wire accel_max_z;
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;
uint16_t _pad1;
struct psmv_vec3_i16_wire gyro_bias_0;
uint16_t _pad2;
@ -227,7 +251,7 @@ struct psmv_calibration_zcm1
uint16_t _pad9;
struct psmv_vec3_i16_wire gyro_rot_y;
uint16_t _pad10;
struct psmv_vec3_f32_wire unknown_vec3;
struct psmv_vec3_f32_zn_wire unknown_vec3;
struct psmv_vec3_f32_wire gyro_fact;
struct psmv_f32_wire unknown_float_0;
struct psmv_f32_wire unknown_float_1;
@ -365,14 +389,23 @@ psmv_i32_from_i16_wire_neg(int32_t *to, const struct psmv_i16_wire *from)
}
static void
psmv_vec3_i32_from_i16_wire(struct xrt_vec3_i32 *to,
const struct psmv_vec3_i16_wire *from)
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)
{
psmv_i32_from_i16_wire(&to->x, &from->x);
psmv_i32_from_i16_wire(&to->y, &from->y);
psmv_i32_from_i16_wire(&to->z, &from->z);
}
static void
psmv_f32_from_wire(float *to, const struct psmv_f32_wire *from)
{
@ -395,14 +428,23 @@ psmv_f32_from_wire_neg(float *to, const struct psmv_f32_wire *from)
}
static void
psmv_vec3_f32_from_wire(struct xrt_vec3 *to,
const struct psmv_vec3_f32_wire *from)
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,
const struct psmv_vec3_f32_wire *from)
{
psmv_f32_from_wire(&to->x, &from->x);
psmv_f32_from_wire(&to->y, &from->y);
psmv_f32_from_wire(&to->z, &from->z);
}
static void
psmv_read_process_last(struct psmv_device *psmv)
{
@ -455,15 +497,15 @@ psmv_read_hid(struct psmv_device *psmv)
input.timestamp |= data.input.timestamp_high << 8;
input.frame[0].trigger = data.input.trigger_f1;
psmv_vec3_i32_from_i16_wire(&input.frame[0].accel,
&data.input.accel_f1);
psmv_vec3_i32_from_i16_wire(&input.frame[0].gyro,
&data.input.gyro_f1);
psmv_from_vec3_i16_zn_wire(&input.frame[0].accel,
&data.input.accel_f1);
psmv_from_vec3_i16_zn_wire(&input.frame[0].gyro,
&data.input.gyro_f1);
input.frame[1].trigger = data.input.trigger_f2;
psmv_vec3_i32_from_i16_wire(&input.frame[1].accel,
&data.input.accel_f2);
psmv_vec3_i32_from_i16_wire(&input.frame[1].gyro,
&data.input.gyro_f2);
psmv_from_vec3_i16_zn_wire(&input.frame[1].accel,
&data.input.accel_f2);
psmv_from_vec3_i16_zn_wire(&input.frame[1].gyro,
&data.input.gyro_f2);
int32_t diff = input.timestamp - psmv->last.timestamp;
bool missed = input.seq_no != ((psmv->last.seq_no + 1) & 0x0f);
@ -612,19 +654,19 @@ psmv_get_calibration(struct psmv_device *psmv)
sizeof(part) - src_offset);
}
psmv_vec3_i32_from_i16_wire(&psmv->accel_min_x, &data.accel_min_x);
psmv_vec3_i32_from_i16_wire(&psmv->accel_max_x, &data.accel_max_x);
psmv_vec3_i32_from_i16_wire(&psmv->accel_min_y, &data.accel_min_y);
psmv_vec3_i32_from_i16_wire(&psmv->accel_max_y, &data.accel_max_y);
psmv_vec3_i32_from_i16_wire(&psmv->accel_min_z, &data.accel_min_z);
psmv_vec3_i32_from_i16_wire(&psmv->accel_max_z, &data.accel_max_z);
psmv_vec3_i32_from_i16_wire(&psmv->gyro_bias_0, &data.gyro_bias_0);
psmv_vec3_i32_from_i16_wire(&psmv->gyro_bias_1, &data.gyro_bias_1);
psmv_vec3_i32_from_i16_wire(&psmv->gyro_rot_x, &data.gyro_rot_x);
psmv_vec3_i32_from_i16_wire(&psmv->gyro_rot_y, &data.gyro_rot_y);
psmv_vec3_i32_from_i16_wire(&psmv->gyro_rot_z, &data.gyro_rot_z);
psmv_vec3_f32_from_wire(&psmv->gyro_fact, &data.gyro_fact);
psmv_vec3_f32_from_wire(&psmv->unknown_vec3, &data.unknown_vec3);
psmv_from_vec3_i16_zn_wire(&psmv->accel_min_x, &data.accel_min_x);
psmv_from_vec3_i16_zn_wire(&psmv->accel_max_x, &data.accel_max_x);
psmv_from_vec3_i16_zn_wire(&psmv->accel_min_y, &data.accel_min_y);
psmv_from_vec3_i16_zn_wire(&psmv->accel_max_y, &data.accel_max_y);
psmv_from_vec3_i16_zn_wire(&psmv->accel_min_z, &data.accel_min_z);
psmv_from_vec3_i16_zn_wire(&psmv->accel_max_z, &data.accel_max_z);
psmv_from_vec3_i16_wire(&psmv->gyro_bias_0, &data.gyro_bias_0);
psmv_from_vec3_i16_wire(&psmv->gyro_bias_1, &data.gyro_bias_1);
psmv_from_vec3_i16_wire(&psmv->gyro_rot_x, &data.gyro_rot_x);
psmv_from_vec3_i16_wire(&psmv->gyro_rot_y, &data.gyro_rot_y);
psmv_from_vec3_i16_wire(&psmv->gyro_rot_z, &data.gyro_rot_z);
psmv_from_vec32_f32_wire(&psmv->gyro_fact, &data.gyro_fact);
psmv_from_vec3_f32_zn_wire(&psmv->unknown_vec3, &data.unknown_vec3);
psmv_f32_from_wire(&psmv->unknown_float_0, &data.unknown_float_0);
psmv_f32_from_wire(&psmv->unknown_float_1, &data.unknown_float_1);