From 55f498db296ff353a0cf870c51bffd92cc360484 Mon Sep 17 00:00:00 2001 From: cnlohr Date: Fri, 6 Apr 2018 19:39:27 -0400 Subject: Unify the location of the updates to the IMU to use G's and rads/sec --- src/survive_vive.c | 29 +---------------------------- 1 file changed, 1 insertion(+), 28 deletions(-) (limited to 'src/survive_vive.c') diff --git a/src/survive_vive.c b/src/survive_vive.c index 1ffb737..60b3dc9 100755 --- a/src/survive_vive.c +++ b/src/survive_vive.c @@ -1239,20 +1239,9 @@ static void handle_watchman( SurviveObject * w, uint8_t * readdata ) 0,0,0 }; // if (w->acc_scale) printf("%f %f %f\n",w->acc_scale[0],w->acc_scale[1],w->acc_scale[2]); - calibrate_acc(w, agm); - //I don't understand where these numbers come from but the data from the WMD seems to max out at 255... - agm[0]*=(1.0f/255.0f); - agm[1]*=(1.0f/255.0f); - agm[2]*=(1.0f/255.0f); - + calibrate_acc(w, agm); calibrate_gyro(w, agm+3); - - //I don't understand where these numbers come from but the data from the WMD seems to max out at 255... - agm[3]*=(1.0f/255.0f); - agm[4]*=(1.0f/255.0f); - agm[5]*=(1.0f/255.0f); - w->ctx->imuproc( w, 3, agm, (time1<<24)|(time2<<16)|readdata[0], 0 ); int16_t * k = (int16_t *)readdata+1; @@ -1495,24 +1484,8 @@ void survive_data_cb( SurviveUSBInterface * si ) 0, 0}; - //1G for accelerometer, from MPU6500 datasheet - //this can change if the firmware changes the sensitivity. - // When coming off of USB, these values are in units of .5g -JB - agm[0] *= (float)(2. / 8192.0); - agm[1] *= (float)(2. / 8192.0); - agm[2] *= (float)(2. / 8192.0); calibrate_acc(obj, agm); - - // From datasheet, can be 250, 500, 1000, 2000 deg/s range over 16 bits - // FLT deg_per_sec = 250; - // FLT conv = (float)((1./deg_per_sec)*(3.14159/180.)) / 8192.; - FLT DEGREES_TO_RADS = 3.14159 / 180.; - FLT conv = 1. / 10. * DEGREES_TO_RADS; calibrate_gyro(obj, agm + 3); - agm[3] *= conv; - agm[4] *= conv; - agm[5] *= conv; - ctx->imuproc( obj, 3, agm, timecode, code ); } } -- cgit v1.2.3 From 7a9782b4069cce0c1f263a5d4dc0dc4f817fcbfe Mon Sep 17 00:00:00 2001 From: Charles Lohr Date: Sat, 7 Apr 2018 19:55:57 +0000 Subject: Update code to permit wireless watchmen use. --- src/survive_vive.c | 15 +++++---------- 1 file changed, 5 insertions(+), 10 deletions(-) (limited to 'src/survive_vive.c') diff --git a/src/survive_vive.c b/src/survive_vive.c index 60b3dc9..83bc977 100755 --- a/src/survive_vive.c +++ b/src/survive_vive.c @@ -1233,20 +1233,15 @@ static void handle_watchman( SurviveObject * w, uint8_t * readdata ) if( ( ( type & 0xe8 ) == 0xe8 ) || doimu ) //Hmm, this looks kind of yucky... we can get e8's that are accelgyro's but, cleared by first propset. { propset |= 2; - //XXX XXX BIG TODO!!! Actually recal gyro data. - FLT agm[9] = { readdata[1], readdata[2], readdata[3], - readdata[4], readdata[5], readdata[6], - 0,0,0 }; - -// if (w->acc_scale) printf("%f %f %f\n",w->acc_scale[0],w->acc_scale[1],w->acc_scale[2]); - //I don't understand where these numbers come from but the data from the WMD seems to max out at 255... + FLT agm[9] = { 0, 0, 0, 0, 0, 0, 0, 0, 0 }; + int j; + for( j = 0; j < 6; j++ ) + agm[j] = (int16_t)(readdata[j*2+1] | (readdata[j*2+2]<<8)); calibrate_acc(w, agm); calibrate_gyro(w, agm+3); w->ctx->imuproc( w, 3, agm, (time1<<24)|(time2<<16)|readdata[0], 0 ); - - int16_t * k = (int16_t *)readdata+1; - //printf( "Match8 %d %d %d %d %d %3d %3d\n", qty, k[0], k[1], k[2], k[3], k[4], k[5] ); readdata += 13; qty -= 13; + type &= ~0xe8; if( qty ) { -- cgit v1.2.3