Driver for the Sony PlayStation Move Controller. More...

Collaboration diagram for PS Move driver:

Files
file	psmv_driver.c
	PlayStation Move motion controller prober and driver code.

file	psmv_interface.h
	Interface to PS Move driver.

Data Structures
struct	psmv_set_led
	Led setting packet. More...

struct	psmv_f32_wire
	Wire encoding of a single 32 bit float, "little" endian. More...

struct	psmv_vec3_f32_wire
	Wire encoding of three 32 bit float, "little" endian. More...

struct	psmv_u16_wire
	Wire encoding of a single 16 bit integer, little endian. More...

struct	psmv_vec3_u16_wire
	Wire encoding of three 16 bit integers, little endian. More...

struct	psmv_i16_wire
	Wire encoding of a single 16 bit integer, little endian. More...

struct	psmv_vec3_i16_wire
	Wire encoding of three 16 bit integers, little endian. More...

struct	psmv_calibration_part
	Part of a calibration data, multiple packets make up a single data packet. More...

struct	psmv_calibration_zcm1
	Calibration data, multiple packets goes into this. More...

struct	psmv_parsed_calibration_zcm1
	Parsed calibration data from a ZCM1 device. More...

struct	psmv_calibration_zcm2
	Calibration data, multiple packets goes into this. More...

struct	psmv_parsed_calibration_zcm2
	Parsed calibration data from a ZCM2 device. More...

struct	psmv_input_zcm1
	Input package for ZCM1. More...

struct	psmv_input_zcm2
	Input package for ZCM2. More...

struct	psmv_parsed_sample
	A parsed sample of accel and gyro. More...

struct	psmv_parsed_input
	A parsed input packet. More...

struct	psmv_device
	A single PlayStation Move Controller. More...

Macros
#define	PSMV_BALL_DIAMETER_M 0.045

#define	PSMV_BALL_FROM_IMU_Y_M 0.09

#define	PSMV_TRACE(p, ...) U_LOG_XDEV_IFL_T(&p->base, p->log_level, __VA_ARGS__)

#define	PSMV_DEBUG(p, ...) U_LOG_XDEV_IFL_D(&p->base, p->log_level, __VA_ARGS__)

#define	PSMV_ERROR(p, ...) U_LOG_XDEV_IFL_E(&p->base, p->log_level, __VA_ARGS__)

#define	SET_INPUT(NAME) (psmv->base.inputs[PSMV_INDEX_##NAME].name = XRT_INPUT_PSMV_##NAME)

Enumerations
enum	psmv_input_index { PSMV_INDEX_PS_CLICK , PSMV_INDEX_MOVE_CLICK , PSMV_INDEX_START_CLICK , PSMV_INDEX_SELECT_CLICK , PSMV_INDEX_SQUARE_CLICK , PSMV_INDEX_CROSS_CLICK , PSMV_INDEX_CIRCLE_CLICK , PSMV_INDEX_TRIANGLE_CLICK , PSMV_INDEX_TRIGGER_VALUE , PSMV_INDEX_GRIP_POSE , PSMV_INDEX_AIM_POSE , PSMV_INDEX_BODY_CENTER_POSE , PSMV_INDEX_BALL_CENTER_POSE }
	Indices where each input is in the input list. More...

enum	psmv_button_bit { PSMV_BUTTON_BIT_MOVE_F2 = (1 << 6) , PSMV_BUTTON_BIT_TRIGGER_F2 = (1 << 7) , PSMV_BUTTON_BIT_PS = (1 << 8) , PSMV_BUTTON_BIT_MOVE_F1 = (1 << 11) , PSMV_BUTTON_BIT_TRIGGER_F1 = (1 << 12) , PSMV_BUTTON_BIT_TRIANGLE = (1 << 20) , PSMV_BUTTON_BIT_CIRCLE = (1 << 21) , PSMV_BUTTON_BIT_CROSS = (1 << 22) , PSMV_BUTTON_BIT_SQUARE = (1 << 23) , PSMV_BUTTON_BIT_START = (1 << 27) , PSMV_BUTTON_BIT_SELECT = (1 << 24) , PSMV_BUTTON_BIT_MOVE_ANY , PSMV_BUTTON_BIT_TRIGGER_ANY }
	Mask for the button in the button uint32_t. More...

Functions
static int	psmv_get_calibration (struct psmv_device *psmv)

static int	psmv_parse_input (struct psmv_device psmv, void data, struct psmv_parsed_input *input)

static struct psmv_device *	psmv_device (struct xrt_device *xdev)

static uint32_t	psmv_calc_delta_and_handle_rollover (uint32_t next, uint32_t last)

static uint8_t	psmv_clamp_zero_to_one_float_to_u8 (float v)

static void	psmv_update_input_click (struct psmv_device *psmv, int index, int64_t when_ns, uint32_t bit)

static void	psmv_update_trigger_value (struct psmv_device *psmv, int index, int64_t when_ns)

static int	psmv_send_led_control_locked (volatile struct psmv_device *psmv, uint8_t red, uint8_t green, uint8_t blue, uint8_t rumble)
	Does the actual sending of the led control package to the device. More...

static void	psmv_led_and_trigger_update_locked (volatile struct psmv_device *psmv, int64_t time)

static void	psmv_led_and_trigger_update (struct psmv_device *psmv, int64_t time)

static void	update_fusion (struct psmv_device psmv, struct psmv_parsed_sample sample, timepoint_ns timestamp_ns, time_duration_ns delta_ns)

static bool	psmv_read_one_packet (struct psmv_device psmv, uint8_t buffer, size_t size)
	Reads one packet from the device, handles time out, locking and checking if the thread has been told to shut down. More...

static void *	psmv_run_thread (void *ptr)

static void	psmv_get_fusion_pose (struct psmv_device psmv, enum xrt_input_name name, timepoint_ns when, struct xrt_space_relation out_relation)

static void	psmv_device_destroy (struct xrt_device *xdev)

static xrt_result_t	psmv_device_update_inputs (struct xrt_device *xdev)

static xrt_result_t	psmv_device_get_tracked_pose (struct xrt_device xdev, enum xrt_input_name name, int64_t at_timestamp_ns, struct xrt_space_relation out_relation)

static float	amp_scale (struct psmv_device *psmv, float amp)

static void	psmv_device_set_output (struct xrt_device xdev, enum xrt_output_name name, const union xrt_output_value value)

int	psmv_found (struct xrt_prober xp, struct xrt_prober_device devices, size_t device_count, size_t index, cJSON attached_data, struct xrt_device **out_xdevs)
	Probing function for the PS Move devices. More...

struct xrt_device *	psmv_device_create (struct xrt_prober xp, struct xrt_prober_device xpdev, struct xrt_tracked_psmv *tracker)
	Function to create a PSMV device. More...

static void	psmv_i32_from_u16_wire (int32_t to, const struct psmv_u16_wire from)

static void	psmv_i32_from_i16_wire (int32_t to, const struct psmv_i16_wire from)

static void	psmv_from_vec3_u16_wire (struct xrt_vec3_i32 to, const struct psmv_vec3_u16_wire from)

static void	psmv_from_vec3_i16_wire (struct xrt_vec3_i32 to, const struct psmv_vec3_i16_wire from)

static void	psmv_f32_from_wire (float to, const struct psmv_f32_wire from)

static void	psmv_from_vec3_f32_wire (struct xrt_vec3 to, const struct psmv_vec3_f32_wire from)

static int	psmv_get_calibration_zcm1 (struct psmv_device *psmv)

static int	psmv_parse_input_zcm1 (struct psmv_device psmv, struct psmv_input_zcm1 data, struct psmv_parsed_input *input)

static int	psmv_get_calibration_zcm2 (struct psmv_device *psmv)

static int	psmv_parse_input_zcm2 (struct psmv_device psmv, struct psmv_input_zcm2 data, struct psmv_parsed_input *input)

Variables
static struct xrt_binding_input_pair	simple_inputs [4]

static struct xrt_binding_output_pair	simple_outputs [1]

static struct xrt_binding_profile	binding_profiles [1]

Detailed Description

Driver for the Sony PlayStation Move Controller.

Enumeration Type Documentation

◆ psmv_button_bit

enum psmv_button_bit

#include <drivers/psmv/psmv_driver.c>

Mask for the button in the button uint32_t.

◆ psmv_input_index

enum psmv_input_index

#include <drivers/psmv/psmv_driver.c>

Indices where each input is in the input list.

Function Documentation

◆ psmv_device_create()

struct xrt_device * psmv_device_create	(	struct xrt_prober *	xp,
		struct xrt_prober_device *	xpdev,
		struct xrt_tracked_psmv *	tracker
	)

#include <drivers/psmv/psmv_driver.c>

Function to create a PSMV device.

See also: xrt_builder

Todo:: measure!

Todo:: cleanup to not leak

References xrt_prober::xrt_prober_open_hid_interface().

◆ psmv_found()

int psmv_found	(	struct xrt_prober *	xp,
		struct xrt_prober_device **	devices,
		size_t	device_count,
		size_t	index,
		cJSON *	attached_data,
		struct xrt_device **	out_xdevs
	)

#include <drivers/psmv/psmv_driver.c>

Probing function for the PS Move devices.

See also: xrt_prober_found_func_t

◆ psmv_get_fusion_pose()

static void psmv_get_fusion_pose	(	struct psmv_device *	psmv,
		enum xrt_input_name	name,
		timepoint_ns	when,
		struct xrt_space_relation *	out_relation
	)

static

#include <drivers/psmv/psmv_driver.c>

Todo:: This is hack, fusion reports angvel relative to the device but it needs to be in relation to the base space. Rotating it with the device orientation is enough to get it into the right space, angular velocity is a derivative so needs a special rotation.

Todo:: assuming that orientation is actually currently tracked.

References xrt_quat::math_quat_rotate_derivative().

◆ psmv_read_one_packet()

static bool psmv_read_one_packet	(	struct psmv_device *	psmv,
		uint8_t *	buffer,
		size_t	size
	)

static

#include <drivers/psmv/psmv_driver.c>

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

References os_hid_device::os_hid_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().

◆ psmv_send_led_control_locked()

static int psmv_send_led_control_locked	(	volatile struct psmv_device *	psmv,
		uint8_t	red,
		uint8_t	green,
		uint8_t	blue,
		uint8_t	rumble
	)

static

#include <drivers/psmv/psmv_driver.c>

Does the actual sending of the led control package to the device.

References os_hid_device::os_hid_write(), and U_ZERO.

Variable Documentation

◆ binding_profiles

struct xrt_binding_profile binding_profiles[1]

static

#include <drivers/psmv/psmv_driver.c>

Initial value:

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

◆ simple_inputs

struct xrt_binding_input_pair simple_inputs[4]

static

#include <drivers/psmv/psmv_driver.c>

Initial value:

= {
    {XRT_INPUT_SIMPLE_SELECT_CLICK, XRT_INPUT_PSMV_TRIGGER_VALUE},
    {XRT_INPUT_SIMPLE_MENU_CLICK, XRT_INPUT_PSMV_MOVE_CLICK},
    {XRT_INPUT_SIMPLE_GRIP_POSE, XRT_INPUT_PSMV_GRIP_POSE},
    {XRT_INPUT_SIMPLE_AIM_POSE, XRT_INPUT_PSMV_AIM_POSE},
}

◆ simple_outputs

struct xrt_binding_output_pair simple_outputs[1]

static

#include <drivers/psmv/psmv_driver.c>

Initial value:

= {
    {XRT_OUTPUT_NAME_SIMPLE_VIBRATION, XRT_OUTPUT_NAME_PSMV_RUMBLE_VIBRATION},
}

Files

Data Structures

Macros

Enumerations

Functions

Variables

Detailed Description

Enumeration Type Documentation

◆ psmv_button_bit

◆ psmv_input_index

Function Documentation

◆ psmv_device_create()

◆ psmv_found()

◆ psmv_get_fusion_pose()

◆ psmv_read_one_packet()

◆ psmv_send_led_control_locked()

Variable Documentation

◆ binding_profiles

◆ simple_inputs

◆ simple_outputs