arduino_device.c File Reference

Arduino felxable input device code. More...

#include "xrt/xrt_device.h"
#include "xrt/xrt_prober.h"
#include "xrt/xrt_tracking.h"
#include "os/os_ble.h"
#include "os/os_time.h"
#include "os/os_threading.h"
#include "math/m_api.h"
#include "math/m_imu_pre.h"
#include "math/m_imu_3dof.h"
#include "util/u_var.h"
#include "util/u_time.h"
#include "util/u_misc.h"
#include "util/u_debug.h"
#include "util/u_device.h"
#include "util/u_bitwise.h"
#include "util/u_logging.h"
#include "arduino_interface.h"
#include <stdio.h>
#include <math.h>
#include <assert.h>

Include dependency graph for arduino_device.c:

Data Structures
struct	arduino_parsed_sample
	A parsed sample of accel and gyro. More...
struct	arduino_parsed_input
struct	arduino_device

Macros
#define	ARDUINO_TRACE(d, ...)   U_LOG_XDEV_IFL_T(&d->base, d->log_level, __VA_ARGS__)
#define	ARDUINO_DEBUG(d, ...)   U_LOG_XDEV_IFL_D(&d->base, d->log_level, __VA_ARGS__)
#define	ARDUINO_INFO(d, ...)   U_LOG_XDEV_IFL_I(&d->base, d->log_level, __VA_ARGS__)
#define	ARDUINO_WARN(d, ...)   U_LOG_XDEV_IFL_W(&d->base, d->log_level, __VA_ARGS__)
#define	ARDUINO_ERROR(d, ...)   U_LOG_XDEV_IFL_E(&d->base, d->log_level, __VA_ARGS__)
#define	DEG_TO_RAD   ((double)M_PI / 180.0)

Functions
static struct arduino_device *	arduino_device (struct xrt_device *xdev)
static uint32_t	calc_delta_and_handle_rollover (uint32_t next, uint32_t last)
static int16_t	read_i16 (const uint8_t *buffer, size_t offset)
static void	update_fusion (struct arduino_device *ad, struct arduino_parsed_sample *sample, timepoint_ns timestamp_ns, time_duration_ns delta_ns)
static void	arduino_parse_input (struct arduino_device *ad, void *data, struct arduino_parsed_input *input)
static bool	arduino_read_one_packet (struct arduino_device *ad, uint8_t *buffer, size_t size)
	Reads one packet from the device,handles locking and checking if the thread has been told to shut down. More...
static void *	arduino_run_thread (void *ptr)
static xrt_result_t	arduino_get_fusion_pose (struct arduino_device *ad, enum xrt_input_name name, struct xrt_space_relation *out_relation)
static void	arduino_device_destroy (struct xrt_device *xdev)
static xrt_result_t	arduino_device_update_inputs (struct xrt_device *xdev)
static xrt_result_t	arduino_device_get_tracked_pose (struct xrt_device *xdev, enum xrt_input_name name, int64_t at_timestamp_ns, struct xrt_space_relation *out_relation)
struct xrt_device *	arduino_device_create (struct os_ble_device *ble)
	Create a arduino device from a ble notify. More...

Variables
static struct xrt_binding_input_pair	simple_inputs [4]
static struct xrt_binding_profile	binding_profiles [1]

Detailed Description

Arduino felxable input device code.

Author

Pete Black pete..nosp@m.blac.nosp@m.k@col.nosp@m.labo.nosp@m.ra.co.nosp@m.m

Jakob Bornecrantz jakob.nosp@m.@col.nosp@m.labor.nosp@m.a.co.nosp@m.m

Function Documentation

arduino_get_fusion_pose()

static xrt_result_t arduino_get_fusion_pose ( struct arduino_device *  ad, enum xrt_input_name  name, struct xrt_space_relation *  out_relation  )

static

Todo:

assuming that orientation is actually currently tracked.

References m_imu_3dof::rot.

arduino_read_one_packet()

static bool arduino_read_one_packet ( struct arduino_device *  ad, uint8_t *  buffer, size_t  size  )

static

Reads one packet from the device,handles locking and checking if the thread has been told to shut down.

References os_ble_read(), os_thread_helper::os_thread_helper_is_running_locked(), os_thread_helper::os_thread_helper_lock(), and os_thread_helper::os_thread_helper_unlock().

Variable Documentation

binding_profiles

struct xrt_binding_profile binding_profiles[1]

static

Initial value:

= {
    {
        .name = XRT_DEVICE_SIMPLE_CONTROLLER,
        .inputs = simple_inputs,
        .input_count = ARRAY_SIZE(simple_inputs),
        .outputs = NULL,
        .output_count = 0,
    },
}

simple_inputs

struct xrt_binding_input_pair simple_inputs[4]

static

Initial value:

= {
    {XRT_INPUT_SIMPLE_SELECT_CLICK, XRT_INPUT_DAYDREAM_BAR_CLICK},
    {XRT_INPUT_SIMPLE_MENU_CLICK, XRT_INPUT_DAYDREAM_CIRCLE_CLICK},
    {XRT_INPUT_SIMPLE_GRIP_POSE, XRT_INPUT_DAYDREAM_POSE},
    {XRT_INPUT_SIMPLE_AIM_POSE, XRT_INPUT_DAYDREAM_POSE},
}