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Fix IMU back compat for D457 #12798

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merged 2 commits into from
Mar 26, 2024
+21 −10
Merged

Fix IMU back compat for D457 #12798

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5e3cfa5
add D4 57 fix
noacoohen Mar 26, 2024
79d2b1b
change mipi data struct name
noacoohen Mar 26, 2024
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13 changes: 13 additions & 0 deletions src/platform/hid-data.h
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Original file line number Diff line number Diff line change
Expand Up @@ -18,6 +18,19 @@ struct hid_data


struct hid_mipi_data
{
uint8_t typeID;
uint8_t skip1;
uint64_t hwTs;
int16_t x;
int16_t y;
int16_t z;
uint64_t hwTs2;
uint64_t skip2;
};


struct hid_mipi_data_32
{
uint8_t typeID;
uint8_t skip1;
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18 changes: 8 additions & 10 deletions src/proc/motion-transform.cpp
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Expand Up @@ -20,18 +20,16 @@ namespace librealsense

if (is_mipi)
{
auto hid = (hid_mipi_data*)(source);

if( ! high_accuracy )
if( ! high_accuracy )
{
//since D400 FW version 5.16 the hid report struct changed to 32 bit for each paramater.
//To support older FW versions we convert the data to int16_t before casting to float as we only get valid data at the lower 16 bits.
hid->x = static_cast< int16_t >( hid->x );
hid->y = static_cast< int16_t >( hid->y );
hid->z = static_cast< int16_t >( hid->z );
auto hid = (hid_mipi_data *)( source );
res = float3{ float( hid->x ), float( hid->y ), float( hid->z ) } * float( factor );
}
else
{
auto hid = (hid_mipi_data_32 *)( source );
res = float3{ float( hid->x ), float( hid->y ), float( hid->z ) } * float( factor );
}

res = float3{ float( hid->x ), float( hid->y ), float( hid->z ) } * float( factor );
}
else
{
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