The open source OpenXR runtime
d/psmv: Tidy code and add some comments
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src/xrt/drivers/psmv/psmv_driver.c
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src/xrt/drivers/psmv/psmv_driver.c
···
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};
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/*!
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* Parsed calibration data from a ZCM1 device.
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*/
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struct psmv_parsed_calibration_zcm1
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{
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struct xrt_vec3_i32 accel_min_x;
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struct xrt_vec3_i32 accel_max_x;
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struct xrt_vec3_i32 accel_min_y;
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struct xrt_vec3_i32 accel_max_y;
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struct xrt_vec3_i32 accel_min_z;
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struct xrt_vec3_i32 accel_max_z;
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/*!
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* From: https://github.com/nitsch/moveonpc/wiki/Calibration-data
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*
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* Coded as the one before. The values are very near to 1.0.
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*
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* I observed, that when I multiply this vector with the gyro bias
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* vector before subtracting from the gyro 80rpm measures, I get a
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* better calibration.
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*
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* So in order to get the accurate 80rpm measures:
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* GyroMeasure80rpm-(GyroBias1*UnknownVector2) or
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* GyroMeasure80rpm-(GyroBias2*UnknownVector2)
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*/
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struct xrt_vec3 gyro_fact;
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struct xrt_vec3_i32 gyro_bias_0;
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struct xrt_vec3_i32 gyro_bias_1;
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struct xrt_vec3_i32 gyro_rot_x;
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struct xrt_vec3_i32 gyro_rot_y;
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struct xrt_vec3_i32 gyro_rot_z;
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struct xrt_vec3 unknown_vec3;
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float unknown_float_0, unknown_float_1;
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};
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/*!
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* Calibration data, multiple packets goes into this.
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*/
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struct psmv_calibration_zcm2
···
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uint8_t _pad1[12];
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};
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/*!
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* Input package.
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* Parsed calibration data from a ZCM2 device.
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*/
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struct psmv_parsed_calibration_zcm2
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{
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struct xrt_vec3_i32 accel_min_x;
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struct xrt_vec3_i32 accel_max_x;
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struct xrt_vec3_i32 accel_min_y;
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struct xrt_vec3_i32 accel_max_y;
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struct xrt_vec3_i32 accel_min_z;
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struct xrt_vec3_i32 accel_max_z;
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struct xrt_vec3_i32 gyro_neg_x;
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struct xrt_vec3_i32 gyro_pos_x;
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struct xrt_vec3_i32 gyro_neg_y;
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struct xrt_vec3_i32 gyro_pos_y;
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struct xrt_vec3_i32 gyro_neg_z;
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struct xrt_vec3_i32 gyro_pos_z;
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//! Pretty sure this is gryo bias.
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struct xrt_vec3_i32 gyro_bias;
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};
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/*!
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* Input package for ZCM1.
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*/
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struct psmv_input_zcm1
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{
···
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};
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/*!
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* Input package.
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* Input package for ZCM2.
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*/
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struct psmv_input_zcm2
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{
···
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};
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/*!
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* A parsed sample.
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* A parsed sample of accel and gyro.
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*/
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struct psmv_parsed_sample
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{
···
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};
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/*!
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* Parsed calibration data from a ZCM1 device.
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*/
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struct psmv_parsed_calibration_zcm1
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{
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struct xrt_vec3_i32 accel_min_x;
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struct xrt_vec3_i32 accel_max_x;
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struct xrt_vec3_i32 accel_min_y;
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struct xrt_vec3_i32 accel_max_y;
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struct xrt_vec3_i32 accel_min_z;
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struct xrt_vec3_i32 accel_max_z;
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/*!
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* From: https://github.com/nitsch/moveonpc/wiki/Calibration-data
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*
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* Coded as the one before. The values are very near to 1.0.
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*
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* I observed, that when I multiply this vector with the gyro bias
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* vector before subtracting from the gyro 80rpm measures, I get a
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* better calibration.
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*
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* So in order to get the accurate 80rpm measures:
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* GyroMeasure80rpm-(GyroBias1*UnknownVector2) or
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* GyroMeasure80rpm-(GyroBias2*UnknownVector2)
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*/
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struct xrt_vec3 gyro_fact;
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struct xrt_vec3_i32 gyro_bias_0;
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struct xrt_vec3_i32 gyro_bias_1;
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struct xrt_vec3_i32 gyro_rot_x;
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struct xrt_vec3_i32 gyro_rot_y;
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struct xrt_vec3_i32 gyro_rot_z;
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struct xrt_vec3 unknown_vec3;
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float unknown_float_0, unknown_float_1;
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};
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/*!
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* Parsed calibration data from a ZCM2 device.
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*/
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struct psmv_parsed_calibration_zcm2
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{
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struct xrt_vec3_i32 accel_min_x;
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struct xrt_vec3_i32 accel_max_x;
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struct xrt_vec3_i32 accel_min_y;
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struct xrt_vec3_i32 accel_max_y;
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struct xrt_vec3_i32 accel_min_z;
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struct xrt_vec3_i32 accel_max_z;
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struct xrt_vec3_i32 gyro_neg_x;
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struct xrt_vec3_i32 gyro_pos_x;
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struct xrt_vec3_i32 gyro_neg_y;
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struct xrt_vec3_i32 gyro_pos_y;
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struct xrt_vec3_i32 gyro_neg_z;
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struct xrt_vec3_i32 gyro_pos_z;
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//! Pretty sure this is gryo bias.
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struct xrt_vec3_i32 gyro_bias;
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};
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/*!
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* A single PlayStation Move Controller.
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*
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* A note about coordinate system. If you stand the controller in front of you
···
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int64_t resend_time;
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struct xrt_colour_rgb_u8 led;
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uint8_t rumble;
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} wants;
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} wants; //!< What should be set.
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struct
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{
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struct xrt_colour_rgb_u8 led;
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uint8_t rumble;
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} state;
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} state; //!< What is currently set on the device.
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struct
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{
···
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default: return 0;
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}
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}
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/*!
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* @}