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Windows hid gyro fix #2940

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merged 2 commits into from
Dec 25, 2018
Merged

Windows hid gyro fix #2940

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5657092
Merge pull request #44 from IntelRealSense/development
abernste Dec 20, 2018
e4e629d
1. gyro sensor data collection fix
abernste Dec 20, 2018
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25 changes: 18 additions & 7 deletions src/win/win-hid.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -145,19 +145,30 @@ namespace librealsense
rawY *= accelerator_transform_factor;
rawZ *= accelerator_transform_factor;
}
else
else if (type == SENSOR_TYPE_GYROMETER_3D)
{
// Raw X
CHECK_HR(report->GetSensorValue(SENSOR_DATA_TYPE_CUSTOM_VALUE3, &var));
rawX = var.iVal;
CHECK_HR(report->GetSensorValue(SENSOR_DATA_TYPE_ANGULAR_VELOCITY_X_DEGREES_PER_SECOND, &var));
rawX = var.dblVal;

// Raw Y
CHECK_HR(report->GetSensorValue(SENSOR_DATA_TYPE_CUSTOM_VALUE4, &var));
rawY = var.iVal;
CHECK_HR(report->GetSensorValue(SENSOR_DATA_TYPE_ANGULAR_VELOCITY_Y_DEGREES_PER_SECOND, &var));
rawY = var.dblVal;

// Raw Z
CHECK_HR(report->GetSensorValue(SENSOR_DATA_TYPE_CUSTOM_VALUE5, &var));
rawZ = var.iVal;
CHECK_HR(report->GetSensorValue(SENSOR_DATA_TYPE_ANGULAR_VELOCITY_Z_DEGREES_PER_SECOND, &var));
rawZ = var.dblVal;

static constexpr double gyro_transform_factor = 10.0;

rawX *= gyro_transform_factor;
rawY *= gyro_transform_factor;
rawZ *= gyro_transform_factor;
}
else
{
/* Unsupported sensor */
return S_FALSE;
}

PropVariantClear(&var);
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9 changes: 7 additions & 2 deletions third-party/libtm/libtm/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -13,9 +13,14 @@ set(LIBVERSION ${LIBTM_VERSION_MAJOR}.${LIBTM_VERSION_MINOR}.${LIBTM_VERSION_PAT

# Retrieve Git branch name
execute_process(COMMAND git rev-parse --abbrev-ref HEAD
WORKING_DIRECTORY "${LIBTM_ROOT}"
WORKING_DIRECTORY "${CMAKE_SOURCE_DIR}"
OUTPUT_VARIABLE GIT_BRANCH
OUTPUT_STRIP_TRAILING_WHITESPACE)
OUTPUT_STRIP_TRAILING_WHITESPACE
ERROR_QUIET)

if(GIT_BRANCH STREQUAL "")
set (GIT_BRANCH "Branch_Unknown")
endif()

message(STATUS "--------------------------------------------------------------------------------------------------------------------------------------------------------------")
message(STATUS "Building ${PROJECT_NAME} project on ${OS}, LIBTM version [${LIBTM_VERSION_MAJOR}.${LIBTM_VERSION_MINOR}.${LIBTM_VERSION_PATCH}.${LIBTM_VERSION_BUILD}], API version [${LIBTM_API_VERSION_MAJOR}.${LIBTM_API_VERSION_MINOR}], branch [${GIT_BRANCH}], FW [${FW_VERSION}], Central APP [${CENTRAL_APP_VERSION}], Central BL [${CENTRAL_BL_VERSION}]")
Expand Down
37 changes: 18 additions & 19 deletions third-party/libtm/resources/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -50,7 +50,7 @@ function(readBinHeaderField input_bin_file offset limit output_hex_buffer)

file(READ ${input_bin_file} buffer LIMIT ${limit} OFFSET ${offset} HEX)
string(TOUPPER "${buffer}" buffer)
string(REGEX REPLACE "([0-9A-F][0-9A-F])([0-9A-F][0-9A-F])([0-9A-F][0-9A-F])([0-9A-F][0-9A-F])" "\\4\\3\\2\\1" buffer ${buffer})
string(REGEX REPLACE "([0-9A-F][0-9A-F])([0-9A-F][0-9A-F])([0-9A-F][0-9A-F])([0-9A-F][0-9A-F])" "\\4\\3\\2\\1" buffer "${buffer}")
from_hex("${buffer}" buffer)

# Copy ready buffer to output buffer
Expand All @@ -59,7 +59,7 @@ endfunction()

# Creates hex buffer from binary file - binary file must be 4 bytes aligned
function(bin2h input_bin_file offset output_hex_buffer)
message(STATUS "Creating HEX buffer from ${input_bin_file} offset ${offset}")
# message(STATUS "Creating HEX buffer from ${input_bin_file} offset ${offset}")

# Read hex data from file
file(READ ${input_bin_file} buffer OFFSET ${offset} HEX)
Expand All @@ -68,10 +68,10 @@ function(bin2h input_bin_file offset output_hex_buffer)
string(TOUPPER "${buffer}" buffer)

# Convert every 4 bytes from AABBCCDD to 0xDDCCBBAA
string(REGEX REPLACE "([0-9A-F][0-9A-F])([0-9A-F][0-9A-F])([0-9A-F][0-9A-F])([0-9A-F][0-9A-F])" "0x\\4\\3\\2\\1," buffer ${buffer})
string(REGEX REPLACE "([0-9A-F][0-9A-F])([0-9A-F][0-9A-F])([0-9A-F][0-9A-F])([0-9A-F][0-9A-F])" "0x\\4\\3\\2\\1," buffer "${buffer}")

# Add new line to every 16 columns
string(REGEX REPLACE "(0x........,0x........,0x........,0x........,0x........,0x........,0x........,0x........,0x........,0x........,0x........,0x........,0x........,0x........,0x........,0x........,)" "\\1\\n" buffer ${buffer})
string(REGEX REPLACE "(0x........,0x........,0x........,0x........,0x........,0x........,0x........,0x........,0x........,0x........,0x........,0x........,0x........,0x........,0x........,0x........,)" "\\1\\n" buffer "${buffer}")

# Copy ready buffer to output buffer
set(${output_hex_buffer} "${buffer}" PARENT_SCOPE)
Expand All @@ -85,7 +85,7 @@ if(FW_VERSION)
file(REMOVE ${LIBTM_RESOURCES_DIR}/target.mvcmd)
message(STATUS "Downloading FW ${FW_VERSION} from '${FW_ARTIFACTORY_DIR}/${FW_VERSION}/target-${FW_VERSION}.mvcmd'")
file(DOWNLOAD "${FW_ARTIFACTORY_DIR}/${FW_VERSION}/target-${FW_VERSION}.mvcmd" "${LIBTM_RESOURCES_DIR}/target.mvcmd" TIMEOUT 60 STATUS status LOG log)
message(STATUS "Downloading FW ${FW_VERSION} completed - status ${status}")
# message(STATUS "Downloading FW ${FW_VERSION} completed - status ${status}")

list (FIND status "\"No error\"" _index)
if (${_index} EQUAL -1)
Expand All @@ -101,7 +101,7 @@ if(FW_VERSION)

if (FW_SOURCE MATCHES "Remote" OR FW_SOURCE MATCHES "Local")
file(REMOVE ${FW_OUTPUT_FILE})
message(STATUS "Converting FW version ${FW_VERSION} ${LIBTM_RESOURCES_DIR}/target.mvcmd to ${FW_OUTPUT_FILE}")
message(STATUS "Converting FW version ${FW_VERSION} from target.mvcmd to ${FW_OUTPUT_FILE}")

# Create empty output file
file(WRITE ${FW_OUTPUT_FILE} "")
Expand Down Expand Up @@ -130,13 +130,13 @@ endif(FW_VERSION)


if(CENTRAL_APP_VERSION)
message(STATUS "--------------------------------------------------------------------------------------------------------------------------------------------------------------")
# message(STATUS "--------------------------------------------------------------------------------------------------------------------------------------------------------------")

if (FW_SOURCE MATCHES "Remote")
file(REMOVE ${LIBTM_RESOURCES_DIR}/central_app.bin)
message(STATUS "Downloading Central App ${CENTRAL_APP_VERSION} from '${CENTRAL_APP_ARTIFACTORY_DIR}/${CENTRAL_APP_VERSION}/central_app-${CENTRAL_APP_VERSION}.bin'")
file(DOWNLOAD "${CENTRAL_APP_ARTIFACTORY_DIR}/${CENTRAL_APP_VERSION}/central_app-${CENTRAL_APP_VERSION}.bin" "${LIBTM_RESOURCES_DIR}/central_app.bin" TIMEOUT 60 STATUS status LOG log)
message(STATUS "Downloading Central App ${CENTRAL_APP_VERSION} completed - status ${status}")
# message(STATUS "Downloading Central App ${CENTRAL_APP_VERSION} completed - status ${status}")
list (FIND status "\"No error\"" _index)
if (${_index} EQUAL -1)
message(FATAL_ERROR "Download error ${CENTRAL_APP_ARTIFACTORY_DIR}/${CENTRAL_APP_VERSION}/central_app-${CENTRAL_APP_VERSION}.bin" )
Expand All @@ -151,7 +151,7 @@ if(CENTRAL_APP_VERSION)

if (FW_SOURCE MATCHES "Remote" OR FW_SOURCE MATCHES "Local")
file(REMOVE ${CENTRAL_APP_OUTPUT_FILE})
message(STATUS "Converting Central App version ${CENTRAL_APP_VERSION} ${LIBTM_RESOURCES_DIR}/central_app.bin to ${CENTRAL_APP_OUTPUT_FILE}")
message(STATUS "Converting Central App version ${CENTRAL_APP_VERSION} from central_app.bin to ${CENTRAL_APP_OUTPUT_FILE}")

STRING(REGEX REPLACE "^([0-9]+)\\.[0-9]+\\.[0-9]+\\.[0-9]+" "\\1" central_app_major_version "${CENTRAL_APP_VERSION}")
STRING(REGEX REPLACE "^[0-9]+\\.([0-9]+)\\.[0-9]+\\.[0-9]+" "\\1" central_app_minor_version "${CENTRAL_APP_VERSION}")
Expand Down Expand Up @@ -204,12 +204,12 @@ if(CENTRAL_APP_VERSION)
message(FATAL_ERROR "Wrong Central FW version (${central_app_version_major}.${central_app_version_minor}.${central_app_version_patch}.${central_app_version_build}) VS (${central_app_major_version}.${central_app_minor_version}.${central_app_patch_version}.${central_app_build_version})")
endif()

message(STATUS "Central Header:")
message(STATUS "- header_size = ${central_app_header_size}")
message(STATUS "- data_size = ${central_app_data_size}")
message(STATUS "- file_format_version = ${central_app_format_ver}")
message(STATUS "- version_size = ${central_app_version_size}")
message(STATUS "- version = ${central_app_version_major}.${central_app_version_minor}.${central_app_version_patch}.${central_app_version_build}")
# message(STATUS "Central Header:")
# message(STATUS "- header_size = ${central_app_header_size}")
# message(STATUS "- data_size = ${central_app_data_size}")
# message(STATUS "- file_format_version = ${central_app_format_ver}")
# message(STATUS "- version_size = ${central_app_version_size}")
# message(STATUS "- version = ${central_app_version_major}.${central_app_version_minor}.${central_app_version_patch}.${central_app_version_build}")

# Create empty output file
file(WRITE ${CENTRAL_APP_OUTPUT_FILE} "")
Expand All @@ -222,7 +222,6 @@ if(CENTRAL_APP_VERSION)
file(APPEND ${CENTRAL_APP_OUTPUT_FILE} "#define CENTRAL_APP_VERSION \"${CENTRAL_APP_VERSION}\"\n")
file(APPEND ${CENTRAL_APP_OUTPUT_FILE} "#define CENTRAL_APP_SIZE ${central_app_data_size}\n\n")


file(APPEND ${CENTRAL_APP_OUTPUT_FILE} "namespace CentralAppFw {\n\n")
file(APPEND ${CENTRAL_APP_OUTPUT_FILE} "const int Version[] = { ${central_app_major_version}, ${central_app_minor_version}, ${central_app_patch_version}, ${central_app_build_version} };\n")
file(APPEND ${CENTRAL_APP_OUTPUT_FILE} "const uint32_t Buffer [] = {\n")
Expand All @@ -245,13 +244,13 @@ endif(CENTRAL_APP_VERSION)


if(CENTRAL_BL_VERSION)
message(STATUS "--------------------------------------------------------------------------------------------------------------------------------------------------------------")
# message(STATUS "--------------------------------------------------------------------------------------------------------------------------------------------------------------")

if (FW_SOURCE MATCHES "Remote")
file(REMOVE ${LIBTM_RESOURCES_DIR}/central_bl.bin)
message(STATUS "Downloading Central BL ${CENTRAL_BL_VERSION} from '${CENTRAL_BL_ARTIFACTORY_DIR}/${CENTRAL_BL_VERSION}/central_bl-${CENTRAL_BL_VERSION}.bin'")
file(DOWNLOAD "${CENTRAL_BL_ARTIFACTORY_DIR}/${CENTRAL_BL_VERSION}/central_bl-${CENTRAL_BL_VERSION}.bin" "${LIBTM_RESOURCES_DIR}/central_bl.bin" TIMEOUT 60 STATUS status LOG log)
message(STATUS "Downloading Central BL ${CENTRAL_BL_VERSION} completed - status ${status}")
# message(STATUS "Downloading Central BL ${CENTRAL_BL_VERSION} completed - status ${status}")
list (FIND status "\"No error\"" _index)
if (${_index} EQUAL -1)
message(FATAL_ERROR "Download error ${CENTRAL_BL_ARTIFACTORY_DIR}/${CENTRAL_BL_VERSION}/central_bl-${CENTRAL_BL_VERSION}.bin" )
Expand All @@ -266,7 +265,7 @@ if(CENTRAL_BL_VERSION)

if (FW_SOURCE MATCHES "Remote" OR FW_SOURCE MATCHES "Local")
file(REMOVE ${CENTRAL_BL_OUTPUT_FILE})
message(STATUS "Converting Central BL version ${CENTRAL_BL_VERSION} ${LIBTM_RESOURCES_DIR}/central_bl.bin to ${CENTRAL_BL_OUTPUT_FILE}")
message(STATUS "Converting Central BL version ${CENTRAL_BL_VERSION} from central_bl.bin to ${CENTRAL_BL_OUTPUT_FILE}")

STRING(REGEX REPLACE "^([0-9]+)\\.[0-9]+\\.[0-9]+\\.[0-9]+" "\\1" central_bl_major_version "${CENTRAL_BL_VERSION}")
STRING(REGEX REPLACE "^[0-9]+\\.([0-9]+)\\.[0-9]+\\.[0-9]+" "\\1" central_bl_minor_version "${CENTRAL_BL_VERSION}")
Expand Down
2 changes: 1 addition & 1 deletion third-party/libtm/versions.cmake
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Original file line number Diff line number Diff line change
Expand Up @@ -49,7 +49,7 @@ else()
endif(FW_SOURCE)

message(STATUS "----------------------------------------------------------------------------")
message(STATUS "Product versions:")
message(STATUS "TM2 Product versions:")
message(STATUS "- HOST ${HOST_VERSION} (${HOST_VERSION_SOURCE})")

if (FW_SOURCE MATCHES "Remote")
Expand Down