From 7039efd2243df191483f0610e03bc163feeb73c3 Mon Sep 17 00:00:00 2001 From: Evgeni Raikhel Date: Sun, 2 Jun 2019 11:31:24 +0300 Subject: [PATCH] Retrofit IMU HW Timestamp to L500. Remove debug code Change-Id: I3cfd18db63f64f1ba1c502e56da98c8991512007 --- src/l500/l500-motion.cpp | 3 +++ src/mf/mf-hid.cpp | 7 ------- 2 files changed, 3 insertions(+), 7 deletions(-) diff --git a/src/l500/l500-motion.cpp b/src/l500/l500-motion.cpp index f1d68586767..cd69542cf7a 100644 --- a/src/l500/l500-motion.cpp +++ b/src/l500/l500-motion.cpp @@ -132,6 +132,9 @@ namespace librealsense { _motion_module_device_idx = add_sensor(hid_ep); } + + // HID metadata attributes + hid_ep->register_metadata(RS2_FRAME_METADATA_FRAME_TIMESTAMP, make_hid_header_parser(&platform::hid_header::timestamp)); } std::vector l500_motion::get_profiles_tags() const diff --git a/src/mf/mf-hid.cpp b/src/mf/mf-hid.cpp index 4a5b577d4cc..517f7df9584 100644 --- a/src/mf/mf-hid.cpp +++ b/src/mf/mf-hid.cpp @@ -122,13 +122,6 @@ namespace librealsense auto customTimestampHigh = var.ulVal; // Parse additional custom fields - //std::vector props; - /*CHECK_HR(report->GetSensorValue(SENSOR_DATA_TYPE_CUSTOM_VALUE3, &var)); - props.push_back(var.ulVal); - CHECK_HR(report->GetSensorValue(SENSOR_DATA_TYPE_CUSTOM_VALUE4, &var)); - props.push_back(var.ulVal); - CHECK_HR(report->GetSensorValue(SENSOR_DATA_TYPE_CUSTOM_VALUE5, &var)); - props.push_back(var.ulVal);*/ CHECK_HR(report->GetSensorValue(SENSOR_DATA_TYPE_CUSTOM_VALUE6, &var)); uint8_t imu_count = var.bVal; CHECK_HR(report->GetSensorValue(SENSOR_DATA_TYPE_CUSTOM_VALUE7, &var));