diff options
author | rbandi <rohitbandi@codeaurora.org> | 2019-11-25 15:05:37 -0800 |
---|---|---|
committer | Gerrit - the friendly Code Review server <code-review@localhost> | 2019-12-05 04:54:51 -0800 |
commit | 3de35ae52d866fdce9f746ebb2f91d72d0c6cb4f (patch) | |
tree | d880d7ca2ff283edb94090550281edef5d277f17 | |
parent | 91f9b786dfaf40d3f0d957dabb4db1b4fed7398b (diff) |
HID: qvr: Correct axes orientationLA.UM.7.1.r1-17400-sm8150.0
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: Rohit Bandi <rohitbandi@codeaurora.org>
-rw-r--r-- | drivers/hid/hid-qvr.c | 60 |
1 files changed, 49 insertions, 11 deletions
diff --git a/drivers/hid/hid-qvr.c b/drivers/hid/hid-qvr.c index 181b1534a273..cc76f00e3d54 100644 --- a/drivers/hid/hid-qvr.c +++ b/drivers/hid/hid-qvr.c @@ -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; + } 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); |