happyz
/
nrealAirLinuxDriver
mirror of https://gitlab.com/TheJackiMonster/nrealAirLinuxDriver.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Fix XREAL One integration with missing rad-to-deg conversion for gyro readings

This commit is contained in:
wheaney 2025-10-04 19:49:56 -07:00
parent 33a9a2f9d9
commit 203c9e77d1
1 changed files with 24 additions and 26 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

50
interface_lib/src/imu_protocol_xo.c
View File

@ -1,21 +1,19 @@
// Ensure POSIX clock_gettime and CLOCK_MONOTONIC are exposed from headers
#ifndef _POSIX_C_SOURCE
#define _POSIX_C_SOURCE 199309L
#endif
#include "imu_protocol.h"
#include "device_imu.h"
#include <hidapi/hidapi.h>
#include <math.h>
#include <string.h>
#include <stdio.h>
#include <stdlib.h>
#include <math.h>
#include <stdint.h>
#include <time.h>
#include <xreal_one_driver.h>
#define M_PI 3.14159265358979323846
#define RADIANS_TO_DEGREES (180.0 / M_PI)
typedef struct {
XrealOneHandle* h;
} xo_ctx;
@ -80,9 +78,9 @@ static int xo_next_sample(device_imu_type* device, struct imu_sample* out, int t
if (rc != 0) return rc; // propagate non-zero (e.g., error or no-sample)
memset(out, 0, sizeof(*out));
out->gx = imu.gyro[0];
out->gy = imu.gyro[1];
out->gz = imu.gyro[2];
out->gx = imu.gyro[0] * RADIANS_TO_DEGREES;
out->gy = imu.gyro[1] * RADIANS_TO_DEGREES;
out->gz = imu.gyro[2] * RADIANS_TO_DEGREES;
out->ax = imu.accel[0];
out->ay = imu.accel[1];
out->az = imu.accel[2];
@ -90,25 +88,25 @@ static int xo_next_sample(device_imu_type* device, struct imu_sample* out, int t
out->temperature_c = NAN;
// avoid using IMU timestamp, if possible, as it's apparently inconsistent
struct timespec ts;
if (clock_gettime(CLOCK_MONOTONIC, &ts) == 0) {
const uint64_t ts_ns = (uint64_t)ts.tv_sec * 1000000000ull + (uint64_t)ts.tv_nsec;
if (start_timestamp_ns != 0) {
out->timestamp_ns = ts_ns - start_timestamp_ns;
} else {
start_timestamp_ns = ts_ns;
out->timestamp_ns = 0;
}
if (!time_debug) {
printf("[xreal_one] Using system time for IMU timestamps\n");
}
} else {
// struct timespec ts;
// if (clock_gettime(CLOCK_MONOTONIC, &ts) == 0) {
// const uint64_t ts_ns = (uint64_t)ts.tv_sec * 1000000000ull + (uint64_t)ts.tv_nsec;
// if (start_timestamp_ns != 0) {
// out->timestamp_ns = ts_ns - start_timestamp_ns;
// } else {
// start_timestamp_ns = ts_ns;
// out->timestamp_ns = 0;
// }
// if (!time_debug) {
// printf("[xreal_one] Using system time for IMU timestamps\n");
// }
// } else {
out->timestamp_ns = imu.timestamp * 1000;
if (!time_debug) {
printf("[xreal_one] Using IMU time for IMU timestamps\n");
}
}
// if (!time_debug) {
// printf("[xreal_one] Using IMU time for IMU timestamps\n");
// }
// }
time_debug = true;
out->flags = 0;
return 1;