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Attempt to fix gyro output

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Denis 2023-11-19 21:08:46 +01:00
parent 64746f5a16
commit 6d5c5468f7
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1 changed files with 9 additions and 8 deletions
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17
virt_ds4.c
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@ -5,6 +5,9 @@
#include <fcntl.h>
#include <poll.h>
#define DS4_GYRO_RES_PER_DEG_S 1024
#define DS4_ACC_RES_PER_G 8192
static const char* path = "/dev/uhid";
static unsigned char rdesc[] = {
@ -607,12 +610,12 @@ static int send_data(int fd, logic_t *const logic, uint8_t counter) {
*
* as we know sens_numer is 0, hence calib_data is zero.
*/
const int16_t g_x = (gs.gyro[0]) / LSB_PER_RAD_S_2000_DEG_S;
const int16_t g_y = (gs.gyro[1]) / LSB_PER_RAD_S_2000_DEG_S;
const int16_t g_z = (gs.gyro[2]) / LSB_PER_RAD_S_2000_DEG_S;
const int16_t a_x = (gs.accel[0]) / LSB_PER_16G; // TODO: IDK how to test...
const int16_t a_y = (gs.accel[1]) / LSB_PER_16G; // TODO: IDK how to test...
const int16_t a_z = (gs.accel[2]) / LSB_PER_16G; // TODO: IDK how to test...
const int16_t g_x = ((gs.gyro[0]) * ((double)(180.0)/(double)(M_PI))) / (double)DS4_GYRO_RES_PER_DEG_S;
const int16_t g_y = ((gs.gyro[1]) * ((double)(180.0)/(double)(M_PI))) / (double)DS4_GYRO_RES_PER_DEG_S;
const int16_t g_z = ((gs.gyro[2]) * ((double)(180.0)/(double)(M_PI))) / (double)DS4_GYRO_RES_PER_DEG_S;
const int16_t a_x = ((gs.accel[0]) / ((double)9.8)) / (double)DS4_ACC_RES_PER_G; // TODO: IDK how to test...
const int16_t a_y = ((gs.accel[1]) / ((double)9.8)) / (double)DS4_ACC_RES_PER_G; // TODO: IDK how to test...
const int16_t a_z = ((gs.accel[2]) / ((double)9.8)) / (double)DS4_ACC_RES_PER_G; // TODO: IDK how to test...
buf[0] = 0x01; // [00] report ID (0x01)
buf[1] = ((uint64_t)((int64_t)gs.joystick_positions[0][0] + (int64_t)32768) >> (uint64_t)8); // L stick, X axis
@ -653,8 +656,6 @@ static int send_data(int fd, logic_t *const logic, uint8_t counter) {
memcpy(&l.u.input2.data[0], &buf[0], l.u.input2.size);
++timestamp;
return uhid_write(fd, &l);
}