Bmi160 accel works, better tps (Bmi160)

CONTRIBUTING.md

@@ -1,52 +1,52 @@
-# Contributing
-
-Thanks for being interested in contributing to this project! This document describes
-what you need to know to get started with the code.
-
-
-## Installing the dependencies
-
-First, install the `Rust` programming language by following the instructions at
-[rustup.rs](https://rustup.rs).
-
-Next, install `libclang`, which is used by the
-[`ovr_overlay`](https://crates.io/crates/ovr_overlay) bindings for OpenVR. For windows,
-use [this] link. For Linux, simply `sudo apt-get install -y libclang-dev`.
-
-[this]: https://github.com/llvm/llvm-project/releases/download/llvmorg-14.0.5/LLVM-14.0.5-win64.exe
-
-You will also need SteamVR installed.
-
-### Steam Deck
-
-If you are building on the steam deck, be sure that you have all the necessary libraries
-for native development installed. To get them, follow [these] instructions.
-
-[these]: https://www.reddit.com/r/SteamDeck/comments/t92ozw/for_compiling_c_code/
-
-
-## Building
-
-`cargo` is the build tool for rust. You can `cargo run` to run the code, `cargo check`
-to check if your code compiles, and `cargo test` to run tests. You can also do
-`--release` to generate an optimized release mode version. This will take longer to
-compile but will run significantly faster.
-
-
-## Documentation
-
-Documentation is autogenerated by cargo and can be viewed in a web browser with
-`cargo doc --all --open --no-deps --document-private-items`. You can run
-`cargo doc --help` to learn more about what those flags do. The documentation is also
-automatically published to github pages for every commit on the `main` branch [here].
-
-[here]: https://slimevr.github.io/SlimeVR-Overlay/skeletal_model
-
-
-## Code Style
-
-All code is autoformatted by `cargo fmt`. We suggest turning on autoformatting on save
-in your IDE, otherwise you can just run `cargo fmt` on the command line. Also, all files
-should end in a newline and have extra whitespace trimmed.
-
-Its also a good idea to run `cargo clippy` to fix the style lints it generates.
+# Contributing
+
+Thanks for being interested in contributing to this project! This document describes
+what you need to know to get started with the code.
+
+
+## Installing the dependencies
+
+First, install the `Rust` programming language by following the instructions at
+[rustup.rs](https://rustup.rs).
+
+Next, install `libclang`, which is used by the
+[`ovr_overlay`](https://crates.io/crates/ovr_overlay) bindings for OpenVR. For windows,
+use [this] link. For Linux, simply `sudo apt-get install -y libclang-dev`.
+
+[this]: https://github.com/llvm/llvm-project/releases/download/llvmorg-14.0.5/LLVM-14.0.5-win64.exe
+
+You will also need SteamVR installed.
+
+### Steam Deck
+
+If you are building on the steam deck, be sure that you have all the necessary libraries
+for native development installed. To get them, follow [these] instructions.
+
+[these]: https://www.reddit.com/r/SteamDeck/comments/t92ozw/for_compiling_c_code/
+
+
+## Building
+
+`cargo` is the build tool for rust. You can `cargo run` to run the code, `cargo check`
+to check if your code compiles, and `cargo test` to run tests. You can also do
+`--release` to generate an optimized release mode version. This will take longer to
+compile but will run significantly faster.
+
+
+## Documentation
+
+Documentation is autogenerated by cargo and can be viewed in a web browser with
+`cargo doc --all --open --no-deps --document-private-items`. You can run
+`cargo doc --help` to learn more about what those flags do. The documentation is also
+automatically published to github pages for every commit on the `main` branch [here].
+
+[here]: https://slimevr.github.io/SlimeVR-Overlay/skeletal_model
+
+
+## Code Style
+
+All code is autoformatted by `cargo fmt`. We suggest turning on autoformatting on save
+in your IDE, otherwise you can just run `cargo fmt` on the command line. Also, all files
+should end in a newline and have extra whitespace trimmed.
+
+Its also a good idea to run `cargo clippy` to fix the style lints it generates.

autoupdater/README.md

@@ -1,16 +1,16 @@
-# Autoupdater
-
-The SlimeVR autoupdater manages updating all the software for SlimeVR on a user's
-computer. It does not handle updates of firmware.
-
-It reads a `version.yaml` file from a github release to determine the versions of the
-software to download, then fetches them and installs them.
-
-Long term, we may use this to replace most or all of the business logic of the current
-[SlimeVR Web Installer](https://github.com/SlimeVR/SlimeVR-Installer).
-
-## Project Status
-This is abandoned due to lack of interested developers.
-
-When being actively developed, the Yaml description and serialization was complete
-already.
+# Autoupdater
+
+The SlimeVR autoupdater manages updating all the software for SlimeVR on a user's
+computer. It does not handle updates of firmware.
+
+It reads a `version.yaml` file from a github release to determine the versions of the
+software to download, then fetches them and installs them.
+
+Long term, we may use this to replace most or all of the business logic of the current
+[SlimeVR Web Installer](https://github.com/SlimeVR/SlimeVR-Installer).
+
+## Project Status
+This is abandoned due to lack of interested developers.
+
+When being actively developed, the Yaml description and serialization was complete
+already.

firmware/src/imu/drivers/bmi160/math.rs

@@ -167,12 +167,12 @@ impl AccelFsr {
 
 	/// least significant bits per accel
 	pub const fn lsb_per_accel(self) -> f32 {
-		self.lsb_per_g() * ACCEL_PER_G
+		self.lsb_per_g() * G_PER_ACCEL
 	}
 
 	/// g per least significant bit
 	pub const fn accel_per_lsb(self) -> f32 {
-		self.g_per_lsb() * G_PER_ACCEL
+		self.g_per_lsb() * ACCEL_PER_G
 	}
 
 	/// The bmi160 returns the data from the accel as an `i16`, we must use the Full

firmware/src/imu/drivers/bmi160/mod.rs

@@ -89,6 +89,8 @@ impl<I: I2c> Imu for Bmi160<I> {
 	async fn next_data(&mut self) -> Result<Self::Data, Self::Error> {
 		// Avoids permablocking async tasks, since we don't do any actual waiting.
 		yield_now().await;
+		yield_now().await; //improves tps more
+		yield_now().await; //50-60 to 70-80
 
 		let data = self.driver.data(SensorSelector::new().gyro().accel())?;
 		let gyro = data.gyro.unwrap();

firmware/src/imu/fusion/stubbed.rs

@@ -8,6 +8,7 @@ use crate::imu::{FusedData, Quat, UnfusedData};
 /// A fake fuser that just rotates around the x axis.
 pub struct Stubbed(Instant);
 impl Stubbed {
+	#[allow(dead_code)]
 	pub fn new() -> Self {
 		Self(Instant::now())
 	}