2021-01-20 07:57:20

by Ye Xiang

Subject: [PATCH] iio: hid-sensor-rotation: Fix quaternion data not correct

Because the data of HID_USAGE_SENSOR_ORIENT_QUATERNION defined by ISH FW
is s16, but quaternion data type is in_rot_quaternion_type(le:s16/32X4>>0),
need to transform data type from s16 to s32

Signed-off-by: Ye Xiang <[email protected]>
---
drivers/iio/orientation/hid-sensor-rotation.c | 13 ++++++++++---
1 file changed, 10 insertions(+), 3 deletions(-)

diff --git a/drivers/iio/orientation/hid-sensor-rotation.c b/drivers/iio/orientation/hid-sensor-rotation.c
index b0245b3b7ffc..cf7f57a47681 100644
--- a/drivers/iio/orientation/hid-sensor-rotation.c
+++ b/drivers/iio/orientation/hid-sensor-rotation.c
@@ -21,7 +21,7 @@ struct dev_rot_state {
struct hid_sensor_common common_attributes;
struct hid_sensor_hub_attribute_info quaternion;
struct {
- u32 sampled_vals[4] __aligned(16);
+ s32 sampled_vals[4] __aligned(16);
u64 timestamp __aligned(8);
} scan;
int scale_pre_decml;
@@ -175,8 +175,15 @@ static int dev_rot_capture_sample(struct hid_sensor_hub_device *hsdev,
struct dev_rot_state *rot_state = iio_priv(indio_dev);

if (usage_id == HID_USAGE_SENSOR_ORIENT_QUATERNION) {
- memcpy(&rot_state->scan.sampled_vals, raw_data,
- sizeof(rot_state->scan.sampled_vals));
+ if (raw_len / 4 == sizeof(s16)) {
+ rot_state->scan.sampled_vals[0] = ((s16 *)raw_data)[0];
+ rot_state->scan.sampled_vals[1] = ((s16 *)raw_data)[1];
+ rot_state->scan.sampled_vals[2] = ((s16 *)raw_data)[2];
+ rot_state->scan.sampled_vals[3] = ((s16 *)raw_data)[3];
+ } else {
+ memcpy(&rot_state->scan.sampled_vals, raw_data,
+ sizeof(rot_state->scan.sampled_vals));
+ }

dev_dbg(&indio_dev->dev, "Recd Quat len:%zu::%zu\n", raw_len,
sizeof(rot_state->scan.sampled_vals));
--
2.17.1

2021-01-23 16:04:59

by Jonathan Cameron

Subject: Re: [PATCH] iio: hid-sensor-rotation: Fix quaternion data not correct

On Wed, 20 Jan 2021 15:49:09 +0800
Ye Xiang <[email protected]> wrote:

> Because the data of HID_USAGE_SENSOR_ORIENT_QUATERNION defined by ISH FW
> is s16, but quaternion data type is in_rot_quaternion_type(le:s16/32X4>>0),
> need to transform data type from s16 to s32
>
> Signed-off-by: Ye Xiang <[email protected]>

Hi Ye Xiang,

So from a quick check of the "HID Sensor Usages" spec, I 'think' that we can only
have s16 and s32 for this type of channel in which case this fix is sufficient for
all possible cases.

Also, please figure out a best estimate for a
Fixes: tag as that will help with backporting this.

Thanks,

Jonathan


> ---
> drivers/iio/orientation/hid-sensor-rotation.c | 13 ++++++++++---
> 1 file changed, 10 insertions(+), 3 deletions(-)
>
> diff --git a/drivers/iio/orientation/hid-sensor-rotation.c b/drivers/iio/orientation/hid-sensor-rotation.c
> index b0245b3b7ffc..cf7f57a47681 100644
> --- a/drivers/iio/orientation/hid-sensor-rotation.c
> +++ b/drivers/iio/orientation/hid-sensor-rotation.c
> @@ -21,7 +21,7 @@ struct dev_rot_state {
> struct hid_sensor_common common_attributes;
> struct hid_sensor_hub_attribute_info quaternion;
> struct {
> - u32 sampled_vals[4] __aligned(16);
> + s32 sampled_vals[4] __aligned(16);
> u64 timestamp __aligned(8);
> } scan;
> int scale_pre_decml;
> @@ -175,8 +175,15 @@ static int dev_rot_capture_sample(struct hid_sensor_hub_device *hsdev,
> struct dev_rot_state *rot_state = iio_priv(indio_dev);
>
> if (usage_id == HID_USAGE_SENSOR_ORIENT_QUATERNION) {
> - memcpy(&rot_state->scan.sampled_vals, raw_data,
> - sizeof(rot_state->scan.sampled_vals));
> + if (raw_len / 4 == sizeof(s16)) {
> + rot_state->scan.sampled_vals[0] = ((s16 *)raw_data)[0];
> + rot_state->scan.sampled_vals[1] = ((s16 *)raw_data)[1];
> + rot_state->scan.sampled_vals[2] = ((s16 *)raw_data)[2];
> + rot_state->scan.sampled_vals[3] = ((s16 *)raw_data)[3];
> + } else {
> + memcpy(&rot_state->scan.sampled_vals, raw_data,
> + sizeof(rot_state->scan.sampled_vals));
> + }
>
> dev_dbg(&indio_dev->dev, "Recd Quat len:%zu::%zu\n", raw_len,
> sizeof(rot_state->scan.sampled_vals));