The open source OpenXR runtime
d/wmr: Fix warnings/issues, mostly related to 32-bit builds
authored by
Ryan Pavlik
and committed by
Jakob Bornecrantz
f43ac484
f230446c
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-9
+5
-4
src/xrt/drivers/wmr/wmr_controller_protocol.c
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-4
src/xrt/drivers/wmr/wmr_controller_protocol.c
···
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#include "util/u_debug.h"
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#include "util/u_logging.h"
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#include "wmr_controller_protocol.h"
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#include <stdint.h>
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/*
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*
···
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vec3_from_wmr_controller_gyro(gyro, &decoded_input->imu.gyro);
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uint32_t prev_ticks = decoded_input->imu.timestamp_ticks & 0xFFFFFFFFUL;
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uint32_t prev_ticks = decoded_input->imu.timestamp_ticks & UINT32_C(0xFFFFFFFF);
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// Write the new ticks value into the lower half of timestamp_ticks
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decoded_input->imu.timestamp_ticks &= (0xFFFFFFFFUL << 32);
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decoded_input->imu.timestamp_ticks &= (UINT64_C(0xFFFFFFFF) << 32u);
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decoded_input->imu.timestamp_ticks += (uint32_t)read32(&p);
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if ((decoded_input->imu.timestamp_ticks & 0xFFFFFFFFUL) < prev_ticks) {
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if ((decoded_input->imu.timestamp_ticks & UINT64_C(0xFFFFFFFF)) < prev_ticks) {
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// Timer overflow, so increment the upper half of timestamp_ticks
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decoded_input->imu.timestamp_ticks += (0x1UL << 32);
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decoded_input->imu.timestamp_ticks += (UINT64_C(0x1) << 32u);
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}
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/* Todo: More decoding here
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src/xrt/drivers/wmr/wmr_hmd.c
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-1
src/xrt/drivers/wmr/wmr_hmd.c
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src/xrt/drivers/wmr/wmr_source.c
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src/xrt/drivers/wmr/wmr_source.c
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#include <assert.h>
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#include <stdio.h>
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#include <inttypes.h>
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#define WMR_SOURCE_STR "WMR Source"
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···
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struct wmr_source *ws = container_of(sink, struct wmr_source, left_sink);
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ws->cam_hw2mono = ws->hw2mono; // We want the right frame to use the same offset
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xf->timestamp += ws->cam_hw2mono;
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WMR_TRACE(ws, "left img t=%ld source_t=%ld", xf->timestamp, xf->source_timestamp);
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WMR_TRACE(ws, "left img t=%" PRId64 " source_t=%" PRId64, xf->timestamp, xf->source_timestamp);
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u_sink_debug_push_frame(&ws->ui_left_sink, xf);
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if (ws->out_sinks.cams[0] && ws->first_imu_received) {
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xrt_sink_push_frame(ws->out_sinks.cams[0], xf);
···
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{
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struct wmr_source *ws = container_of(sink, struct wmr_source, right_sink);
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xf->timestamp += ws->cam_hw2mono;
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WMR_TRACE(ws, "right img t=%ld source_t=%ld", xf->timestamp, xf->source_timestamp);
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WMR_TRACE(ws, "right img t=%" PRId64 " source_t=%" PRId64, xf->timestamp, xf->source_timestamp);
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u_sink_debug_push_frame(&ws->ui_right_sink, xf);
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if (ws->out_sinks.cams[1] && ws->first_imu_received) {
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xrt_sink_push_frame(ws->out_sinks.cams[1], xf);
···
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// Convert hardware timestamp into monotonic clock. Update offset estimate hw2mono.
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// Note this is only done with IMU samples as they have the smallest USB transmission time.
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const double IMU_FREQ = 250; //!< @todo use 1000 if "average_imus" is false
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const float IMU_FREQ = 250.f; //!< @todo use 1000 if "average_imus" is false
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timepoint_ns now_hw = s->timestamp_ns;
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timepoint_ns now_mono = (timepoint_ns)os_monotonic_get_ns();
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s->timestamp_ns = m_clock_offset_a2b(IMU_FREQ, now_hw, now_mono, &ws->hw2mono);
···
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timepoint_ns ts = s->timestamp_ns;
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struct xrt_vec3_f64 a = s->accel_m_s2;
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struct xrt_vec3_f64 w = s->gyro_rad_secs;
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WMR_TRACE(ws, "imu t=%ld a=(%f %f %f) w=(%f %f %f)", ts, a.x, a.y, a.z, w.x, w.y, w.z);
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WMR_TRACE(ws, "imu t=%" PRId64 " a=(%f %f %f) w=(%f %f %f)", ts, a.x, a.y, a.z, w.x, w.y, w.z);
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// Push to debug UI
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struct xrt_vec3 gyro = {(float)w.x, (float)w.y, (float)w.z};