PR IntelRealSense#12798 from noacoohen: Fix IMU back compat for D457

(cherry picked from commit 46b2b79)
maloel · Mar 26, 2024 · 5074ec3 · 5074ec3
1 parent 293fcae
commit 5074ec3
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Showing 2 changed files with 21 additions and 10 deletions.
diff --git a/src/platform/hid-data.h b/src/platform/hid-data.h
@@ -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;

diff --git a/src/proc/motion-transform.cpp b/src/proc/motion-transform.cpp
@@ -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
         {