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Correct timeouts and remove broken brightness command

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Signed-off-by: TheJackiMonster <thejackimonster@gmail.com>
This commit is contained in:
TheJackiMonster 2023-04-30 14:24:13 +02:00
parent 0a85530624
commit 8cf3221944
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GPG key ID: D850A5F772E880F9
4 changed files with 88 additions and 47 deletions
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47
interface_lib/src/device3.c
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@ -84,9 +84,9 @@ static bool recv_payload(device3_type* device, uint8_t size, uint8_t* payload) {
transferred = payload_size;
}
/*if (transferred == 0) {
if (transferred == 0) {
return false;
}*/
}
if (transferred != payload_size) {
perror("ERROR: receiving payload failed\n");
@ -223,8 +223,11 @@ device3_type* device3_open(device3_event_callback callback) {
perror("No handle!\n");
return device;
}
device3_clear(device);
if (!send_payload_msg(device, DEVICE3_MSG_GET_STATIC_ID, 0, NULL)) {
perror("Failed sending payload to get static id!\n");
return device;
}
@ -239,6 +242,7 @@ device3_type* device3_open(device3_event_callback callback) {
device3_reset_calibration(device);
if (!send_payload_msg(device, DEVICE3_MSG_GET_CAL_DATA_LENGTH, 0, NULL)) {
perror("Failed sending payload to get calibration data length!\n");
return device;
}
@ -292,6 +296,7 @@ device3_type* device3_open(device3_event_callback callback) {
}
if (!send_payload_msg_signal(device, DEVICE3_MSG_START_IMU_DATA, 0x1)) {
perror("Failed sending payload to start imu data stream!\n");
return device;
}
@ -585,8 +590,10 @@ static void apply_calibration(const device3_type* device,
hardIronOffset.axis.y = cy / my;
hardIronOffset.axis.z = cz / mz;
device->calibration->softIronMatrix = softIronMatrix;
device->calibration->hardIronOffset = hardIronOffset;
if (device->calibration) {
device->calibration->softIronMatrix = softIronMatrix;
device->calibration->hardIronOffset = hardIronOffset;
}
*magnetometer = FusionCalibrationMagnetic(
*magnetometer,
@ -602,7 +609,7 @@ static void apply_calibration(const device3_type* device,
}
void device3_clear(device3_type* device) {
device3_read(device, 0);
device3_read(device, 10);
}
int device3_calibrate(device3_type* device, uint32_t iterations, bool gyro, bool accel, bool magnet) {
@ -636,9 +643,9 @@ int device3_calibrate(device3_type* device, uint32_t iterations, bool gyro, bool
MAX_PACKET_SIZE
);
/*if (transferred == 0) {
if (transferred == 0) {
continue;
}*/
}
if (MAX_PACKET_SIZE != transferred) {
perror("Not expected issue!\n");
@ -730,15 +737,16 @@ int device3_read(device3_type* device, int timeout) {
device3_packet_type packet;
memset(&packet, 0, sizeof(device3_packet_type));
int transferred = hid_read(
int transferred = hid_read_timeout(
device->handle,
(uint8_t*) &packet,
MAX_PACKET_SIZE
MAX_PACKET_SIZE,
timeout
);
/*if (transferred == 0) {
if (transferred == 0) {
return 1;
}*/
}
if (MAX_PACKET_SIZE != transferred) {
perror("Not expected issue!\n");
@ -774,21 +782,25 @@ int device3_read(device3_type* device, int timeout) {
readIMU_from_packet(&packet, &gyroscope, &accelerometer, &magnetometer);
apply_calibration(device, &gyroscope, &accelerometer, &magnetometer);
gyroscope = FusionOffsetUpdate((FusionOffset*) device->offset, gyroscope);
if (device->offset) {
gyroscope = FusionOffsetUpdate((FusionOffset*) device->offset, gyroscope);
}
//printf("G: %.2f %.2f %.2f\n", gyroscope.axis.x, gyroscope.axis.y, gyroscope.axis.z);
//printf("A: %.2f %.2f %.2f\n", accelerometer.axis.x, accelerometer.axis.y, accelerometer.axis.z);
//printf("M: %.2f %.2f %.2f\n", magnetometer.axis.x, magnetometer.axis.y, magnetometer.axis.z);
FusionAhrsUpdate((FusionAhrs*) device->ahrs, gyroscope, accelerometer, magnetometer, deltaTime);
//FusionAhrsUpdateNoMagnetometer((FusionAhrs*) device->ahrs, gyroscope, accelerometer, deltaTime);
if (device->ahrs) {
FusionAhrsUpdate((FusionAhrs*) device->ahrs, gyroscope, accelerometer, magnetometer, deltaTime);
//FusionAhrsUpdateNoMagnetometer((FusionAhrs*) device->ahrs, gyroscope, accelerometer, deltaTime);
}
device3_callback(device, timestamp, DEVICE3_EVENT_UPDATE);
return 0;
}
device3_vec3_type device3_get_earth_acceleration(const device3_ahrs_type* ahrs) {
FusionVector acceleration = FusionAhrsGetEarthAcceleration((const FusionAhrs*) ahrs);
FusionVector acceleration = ahrs? FusionAhrsGetEarthAcceleration((const FusionAhrs*) ahrs) : FUSION_VECTOR_ZERO;
device3_vec3_type a;
a.x = acceleration.axis.x;
a.y = acceleration.axis.y;
@ -797,7 +809,7 @@ device3_vec3_type device3_get_earth_acceleration(const device3_ahrs_type* ahrs)
}
device3_vec3_type device3_get_linear_acceleration(const device3_ahrs_type* ahrs) {
FusionVector acceleration = FusionAhrsGetLinearAcceleration((const FusionAhrs*) ahrs);
FusionVector acceleration = ahrs? FusionAhrsGetLinearAcceleration((const FusionAhrs*) ahrs) : FUSION_VECTOR_ZERO;
device3_vec3_type a;
a.x = acceleration.axis.x;
a.y = acceleration.axis.y;
@ -806,7 +818,7 @@ device3_vec3_type device3_get_linear_acceleration(const device3_ahrs_type* ahrs)
}
device3_quat_type device3_get_orientation(const device3_ahrs_type* ahrs) {
FusionQuaternion quaternion = FusionAhrsGetQuaternion((const FusionAhrs*) ahrs);
FusionQuaternion quaternion = ahrs? FusionAhrsGetQuaternion((const FusionAhrs*) ahrs) : FUSION_IDENTITY_QUATERNION;
device3_quat_type q;
q.x = quaternion.element.x;
q.y = quaternion.element.y;
@ -853,4 +865,5 @@ void device3_close(device3_type* device) {
}
free(device);
hid_exit();
}