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Commit 34813ff0 authored by qctecmdr's avatar qctecmdr Committed by Gerrit - the friendly Code Review server
Browse files

Merge "HID: qvr: Correct axes orientation"

parents ece4614c 5fa4655f

drivers/hid/hid-qvr.c

+49 −11
Original line number Diff line number Diff line
@@ -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)
@@ -276,6 +301,8 @@ static int qvr_send_package_wrap(u8 *message, int msize, struct hid_device *hid) 
	else

		data->mts = data->ats;

	data->gts = data->ats;



	if (DEBUG_ORIENTATION == 1) {

		data->ax = -imuData.ax0;

		data->ay = imuData.ay0;

		data->az = -imuData.az0;
@@ -285,6 +312,17 @@ static int qvr_send_package_wrap(u8 *message, int msize, struct hid_device *hid) 
		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);