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d/wmr: When time goes backward, reset the clock tracking

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If a controller is idle long enough or restarted, then the
device time can change enough to cause the monotonic
time matching to go backward, and lead an assertion in
the 3dof fusion. Catch the case and reset the clock
estimation and fusion entirely.
This commit is contained in:
Jan Schmidt committed 2026-03-25 17:50:34 +11:00
1 parent 9bdd594d62
commit b544bfcccc
2 files changed
+13 -10
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src/xrt/drivers/wmr/wmr_controller_base.c
+13 -8
View File
@@ -73,11 +73,7 @@ wmr_controller_base_imu_sample(struct wmr_controller_base *wcb,
timepoint_ns now_hw_ns = wcb->last_timestamp_ticks * WMR_MOTION_CONTROLLER_NS_PER_TICK;
// Convert hardware timestamp into monotonic clock. Update offset estimate hw2mono.
const float IMU_FREQ = 500.f;
m_clock_offset_a2b(IMU_FREQ, now_hw_ns, rx_mono_ns, &wcb->hw2mono);
/* Update windowed min-skew estimator */
/* Update windowed min-skew estimator and convert hardware timestamp into monotonic clock */
m_clock_windowed_skew_tracker_push(wcb->hw2mono_clock, rx_mono_ns, now_hw_ns);
timepoint_ns mono_time_ns;
@@ -90,12 +86,21 @@ wmr_controller_base_imu_sample(struct wmr_controller_base *wcb,
/*
* Check if the timepoint does time travel, we get one or two
* old samples when the device has not been cleanly shut down.
* old samples when the device has not been cleanly shut down,
* and if the controller is left idle and goes into low power
* mode it can come back with a different clock epoch
*/
if (wcb->last_imu_timestamp_ns > (uint64_t)mono_time_ns) {
WMR_WARN(wcb, "Received sample from the past, new: %" PRIu64 ", last: %" PRIu64 ", diff: %" PRIu64,
WMR_WARN(wcb,
"Received sample from the past, new: %" PRIu64 ", last: %" PRIu64 ", diff: %" PRIu64
". resetting clock tracking",
mono_time_ns, now_hw_ns, mono_time_ns - now_hw_ns);
wcb->last_imu_timestamp_ns = mono_time_ns;
// Reinit. The 3dof fusion will assert if time goes backward
wcb->last_imu_timestamp_ns = 0;
wcb->last_imu_device_timestamp_ns = 0;
m_imu_3dof_init(&wcb->fusion, M_IMU_3DOF_USE_GRAVITY_DUR_20MS);
m_clock_windowed_skew_tracker_reset(wcb->hw2mono_clock);
m_clock_windowed_skew_tracker_push(wcb->hw2mono_clock, rx_mono_ns, now_hw_ns);
return;
}
src/xrt/drivers/wmr/wmr_controller_base.h
-2
View File
@@ -152,8 +152,6 @@ struct wmr_controller_base
uint64_t last_imu_timestamp_ns;
//! Time of last IMU sample, in device time.
uint64_t last_imu_device_timestamp_ns;
//!< Estimated offset from IMU to monotonic clock. Protected by data_lock
time_duration_ns hw2mono;
//!< Min-Skew estimator for IMU to monotonic clock. Protected by data_lock
struct m_clock_windowed_skew_tracker *hw2mono_clock;
//!< Last IMU sample received