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Commit 62c8cba8 authored by qctecmdr's avatar qctecmdr Committed by Gerrit - the friendly Code Review server
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Merge "HID: qvr: Adding numerator and denominator to sensor data"

parents a2d6c83b 59c8e41e

drivers/hid/hid-qvr.c

+35 −30
Original line number Diff line number Diff line 
// SPDX-License-Identifier: GPL-2.0-only

/*

 * Copyright (c) 2018-2019, The Linux Foundation. All rights reserved.

 * Copyright (c) 2018-2020, The Linux Foundation. All rights reserved.

 *

 * This program is free software; you can redistribute it and/or modify

 * it under the terms of the GNU General Public License version 2 and
@@ -63,6 +63,7 @@ struct qvr_buf_index { 
	uint8_t padding[60];

};



// struct must be 64 bit aligned

struct qvr_sensor_t {

	uint64_t gts;

	uint64_t ats;
@@ -70,13 +71,19 @@ struct qvr_sensor_t { 
	s32 gx;

	s32 gy;

	s32 gz;

	u32 gNumerator;

	u32 gDenominator;

	s32 ax;

	s32 ay;

	s32 az;

	u32 aNumerator;

	u32 aDenominator;

	s32 mx;

	s32 my;

	s32 mz;

	uint8_t padding[4];

	u32 mNumerator;

	u32 mDenominator;

	uint8_t padding[44];

};



struct qvr_calib_data {
@@ -105,7 +112,6 @@ 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)

{
@@ -255,10 +261,6 @@ 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",
@@ -285,9 +287,9 @@ static int qvr_send_package_wrap(u8 *message, int msize, struct hid_device *hid) 
	if (!sensor->ts_offset)

		sensor->ts_offset = imuData.gts0;

	index_buf = (struct qvr_buf_index *)((uintptr_t)sensor->vaddr +

		(sensor->vsize / 2) + (8 * sizeof(*sensor_buf)));

	sensor_buf = (struct qvr_sensor_t *)((uintptr_t)sensor->vaddr +

		(sensor->vsize / 2));

	sensor_buf = (struct qvr_sensor_t *)((uintptr_t)sensor->vaddr +

		(sensor->vsize / 2) + sizeof(struct qvr_buf_index));



	data = (struct qvr_sensor_t *)&(sensor_buf[buf_index]);

	if (sensor->ts_offset > imuData.gts0)
@@ -302,27 +304,30 @@ 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->ax = imuData.ax0;

	data->ay = imuData.ay0;

		data->az = -imuData.az0;

		data->gx = -imuData.gx0;

	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->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->aNumerator = imuData.aNumerator;

	data->aDenominator = imuData.aDenominator;

	data->gNumerator = imuData.gNumerator;

	data->gDenominator = imuData.gDenominator;

	data->mNumerator = imuData.mNumerator;

	data->mDenominator = imuData.mDenominator;



	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);