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HID: qvr: Correct axes orientation

Browse source 
Some viewers report axes orientation different
from others. Correct sensor axes orientation for
certain viewers depending on certain fields in the
IMU data.

Change-Id: I4ace679cd5e147817185bcd878db4188569554fe
Signed-off-by: rbandi <rohitbandi@codeaurora.org>
This commit is contained in:
rbandi 2019-11-25 15:05:37 -08:00 • committed by Gerrit - the friendly Code Review server
commit 8d2a6df81e
1 changed files with 49 additions and 11 deletions
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60
drivers/hid/hid-qvr.c
View file

@ -105,6 +105,7 @@ struct qvr_external_sensor {
static DECLARE_WAIT_QUEUE_HEAD(wq);
static struct qvr_external_sensor qvr_external_sensor;
static uint8_t DEBUG_ORIENTATION;
static int read_calibration_len(void)
{
@ -237,7 +238,6 @@ static int control_imu_stream(bool status)
return -ETIME;
}
static int qvr_send_package_wrap(u8 *message, int msize, struct hid_device *hid)
{
struct qvr_external_sensor *sensor = &qvr_external_sensor;
@ -254,7 +254,32 @@ static int qvr_send_package_wrap(u8 *message, int msize, struct hid_device *hid)
memcpy((void *)&imuData, (void *)message,
sizeof(struct external_imu_format));
if (!sensor->ts_base) {
if (imuData.gNumerator == 1 && imuData.aNumerator == 1)
DEBUG_ORIENTATION = 1;
else
DEBUG_ORIENTATION = 0;
pr_debug("qvr msize = %d reportID=%d padding=%d\n"
"qvr version=%d numImu=%d nspip=%d pSize=%d\n"
"qvr imuID=%d sampleID=%d temp=%d\n",
msize, imuData.reportID, imuData.padding,
imuData.version, imuData.numIMUs,
imuData.numSamplesPerImuPacket,
imuData.totalPayloadSize, imuData.imuID,
imuData.sampleID, imuData.temperature);
pr_debug("qvr gts0=%llu num=%d denom=%d\n"
"qvr gx0=%d gy0=%d gz0=%d\n",
imuData.gts0, imuData.gNumerator, imuData.gDenominator,
imuData.gx0, imuData.gy0, imuData.gz0);
pr_debug("qvr ats0=%llu num=%d denom=%d\n"
"qvr ax0=%d ay0=%d az0=%d\n",
imuData.ats0, imuData.aNumerator, imuData.aDenominator,
imuData.ax0, imuData.ay0, imuData.az0);
pr_debug("qvr mts0=%llu num=%d denom=%d\n"
"mx0=%d my0=%d mz0=%d\n",
imuData.mts0, imuData.mNumerator, imuData.mDenominator,
imuData.mx0, imuData.my0, imuData.mz0);
}
if (!sensor->ts_base)
sensor->ts_base = ktime_to_ns(ktime_get_boottime());
if (!sensor->ts_offset)
@ -276,15 +301,28 @@ static int qvr_send_package_wrap(u8 *message, int msize, struct hid_device *hid)
else
data->mts = data->ats;
data->gts = data->ats;
data->ax = -imuData.ax0;
data->ay = imuData.ay0;
data->az = -imuData.az0;
data->gx = -imuData.gx0;
data->gy = imuData.gy0;
data->gz = -imuData.gz0;
data->mx = -imuData.my0;
data->my = -imuData.mx0;
data->mz = -imuData.mz0;
if (DEBUG_ORIENTATION == 1) {
data->ax = -imuData.ax0;
data->ay = imuData.ay0;
data->az = -imuData.az0;
data->gx = -imuData.gx0;
data->gy = imuData.gy0;
data->gz = -imuData.gz0;
data->mx = -imuData.my0;
data->my = -imuData.mx0;
data->mz = -imuData.mz0;
} else {
data->ax = -imuData.ay0;
data->ay = -imuData.ax0;
data->az = -imuData.az0;
data->gx = -imuData.gy0;
data->gy = -imuData.gx0;
data->gz = -imuData.gz0;
data->mx = -imuData.my0;
data->my = -imuData.mx0;
data->mz = -imuData.mz0;
}
index_buf->most_recent_index = buf_index;
buf_index = (buf_index == (8 - 1)) ? 0 : buf_index + 1;