From 39a940990efa8485731004645cc5e750746f4e0f Mon Sep 17 00:00:00 2001 From: rbandi Date: Mon, 3 Feb 2020 14:05:06 -0800 Subject: [PATCH] HID: qvr: Removing axis orientation Driver reports sensor data without modifying the orientation of axes. Change-Id: I3e0d3d3efc848d7e72a1edda9f168721dbccb308 Signed-off-by: rbandi --- drivers/hid/hid-qvr.c | 44 ++++++++++++++++++------------------------- 1 file changed, 18 insertions(+), 26 deletions(-) diff --git a/drivers/hid/hid-qvr.c b/drivers/hid/hid-qvr.c index 247f52bce591..f3de02034c04 100644 --- a/drivers/hid/hid-qvr.c +++ b/drivers/hid/hid-qvr.c @@ -106,7 +106,6 @@ 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) { @@ -256,10 +255,6 @@ 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", @@ -303,27 +298,24 @@ static int qvr_send_package_wrap(u8 *message, int msize, struct hid_device *hid) data->mts = data->ats; data->gts = data->ats; - 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; - } + 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; + 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; trace_qvr_recv_sensor("gyro", data->gts, data->gx, data->gy, data->gz); trace_qvr_recv_sensor("accel", data->ats, data->ax, data->ay, data->az);