Driver for the PlayStation Sense motion controllers. More...

Collaboration diagram for PlayStation Sense driver:

Files
file	pssense_driver.c
	PlayStation Sense controller prober and driver code.

file	pssense_interface.h
	Interface to PlayStation Sense driver.

Data Structures
struct	pssense_i16_le
	16-bit little-endian int More...

struct	pssense_i32_le
	32-bit little-endian int More...

struct	pssense_input_report
	HID input report data packet. More...

struct	pssense_output_report
	HID output report data packet. More...

struct	pssense_input_state
	PlayStation Sense state parsed from a data packet. More...

struct	pssense_device
	A single PlayStation Sense Controller. More...

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

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

#define	PSSENSE_WARN(p, ...) U_LOG_XDEV_IFL_W(&p->base, p->log_level, __VA_ARGS__)

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

#define	DEG_TO_RAD(DEG) (DEG * M_PI / 180.)

#define	INPUT_REPORT_LENGTH 78

#define	OUTPUT_REPORT_LENGTH 78

#define	SET_INPUT(NAME) (pssense->base.inputs[PSSENSE_INDEX_##NAME].name = XRT_INPUT_PSSENSE_##NAME)

Enumerations
enum	pssense_input_index { PSSENSE_INDEX_PS_CLICK , PSSENSE_INDEX_SHARE_CLICK , PSSENSE_INDEX_OPTIONS_CLICK , PSSENSE_INDEX_SQUARE_CLICK , PSSENSE_INDEX_SQUARE_TOUCH , PSSENSE_INDEX_TRIANGLE_CLICK , PSSENSE_INDEX_TRIANGLE_TOUCH , PSSENSE_INDEX_CROSS_CLICK , PSSENSE_INDEX_CROSS_TOUCH , PSSENSE_INDEX_CIRCLE_CLICK , PSSENSE_INDEX_CIRCLE_TOUCH , PSSENSE_INDEX_SQUEEZE_CLICK , PSSENSE_INDEX_SQUEEZE_TOUCH , PSSENSE_INDEX_SQUEEZE_PROXIMITY , PSSENSE_INDEX_TRIGGER_CLICK , PSSENSE_INDEX_TRIGGER_TOUCH , PSSENSE_INDEX_TRIGGER_VALUE , PSSENSE_INDEX_TRIGGER_PROXIMITY , PSSENSE_INDEX_THUMBSTICK , PSSENSE_INDEX_THUMBSTICK_CLICK , PSSENSE_INDEX_THUMBSTICK_TOUCH , PSSENSE_INDEX_GRIP_POSE , PSSENSE_INDEX_AIM_POSE }
	Indices where each input is in the input list. More...

Functions
static uint32_t	pssense_i32_le_to_u32 (const struct pssense_i32_le *from)

static struct pssense_i32_le	pssense_u32_to_i32_le (uint32_t from)

static int16_t	pssense_i16_le_to_i16 (const struct pssense_i16_le *from)

static uint32_t	crc32_le (uint32_t crc, uint8_t const *p, size_t len)

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

static bool	pssense_parse_packet (struct pssense_device pssense, struct pssense_input_report data, struct pssense_input_state *input)

static void	pssense_update_fusion (struct pssense_device *pssense)

static void	pssense_send_output_report_locked (struct pssense_device *pssense)

static void *	pssense_run_thread (void *ptr)

static void	pssense_device_destroy (struct xrt_device *xdev)

static void	pssense_device_update_inputs (struct xrt_device *xdev)

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

static void	pssense_get_fusion_pose (struct pssense_device pssense, enum xrt_input_name name, uint64_t at_timestamp_ns, struct xrt_space_relation out_relation)

static void	pssense_get_tracked_pose (struct xrt_device xdev, enum xrt_input_name name, uint64_t at_timestamp_ns, struct xrt_space_relation out_relation)

bool	pssense_get_calibration_data (struct pssense_device *pssense)
	Retrieving the calibration data report will switch the Sense controller from compat mode into full mode. More...

int	pssense_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 PlayStation Sense devices. More...

Variables
static struct xrt_binding_input_pair	simple_inputs_pssense [4]

static struct xrt_binding_output_pair	simple_outputs_pssense [1]

static struct xrt_binding_profile	binding_profiles_pssense [1]

const uint8_t	INPUT_REPORT_ID = 0x31

const uint8_t	OUTPUT_REPORT_ID = 0x31

const uint8_t	OUTPUT_REPORT_TAG = 0x10

const uint8_t	CALIBRATION_DATA_FEATURE_REPORT_ID = 0x05

const uint8_t	CALIBRATION_DATA_PART_ID_1 = 0

const uint8_t	CALIBRATION_DATA_PART_ID_2 = 0x81

const uint8_t	INPUT_REPORT_CRC32_SEED = 0xa1

const uint8_t	OUTPUT_REPORT_CRC32_SEED = 0xa2

const uint8_t	FEATURE_REPORT_CRC32_SEED = 0xa3

const double	PSSENSE_GYRO_SCALE_DEG = 180.0 / 1024
	Gyro read value range is +-32768. More...

const double	PSSENSE_ACCEL_SCALE = MATH_GRAVITY_M_S2 / 4096
	Accelerometer read value range is +-32768 and covers +-8 g. More...

const uint8_t	VIBRATE_ENABLE_BITS = 0x03
	Flag bits to enable setting vibration in an output report. More...

const uint8_t	VIBRATE_MODE_HIGH_120HZ = 0x00
	Pure 120Hz vibration. More...

const uint8_t	VIBRATE_MODE_LOW_60HZ = 0x20
	Pure 60Hz vibration. More...

const uint8_t	VIBRATE_MODE_CLASSIC_RUMBLE = 0x40
	Emulates a legacy vibration motor. More...

const uint8_t	VIBRATE_MODE_DIET_RUMBLE = 0x60
	Softer rumble emulation, like an engine running. More...

const uint8_t	TRIGGER_FEEDBACK_ENABLE_BITS = 0x04
	Flag bits to enable setting trigger feedback in an output report. More...

const uint8_t	TRIGGER_FEEDBACK_MODE_NONE = 0x00
	Clear the trigger feedback setting. More...

const uint8_t	TRIGGER_FEEDBACK_MODE_CONSTANT = 0x01
	Constant resistance throughout the trigger movement. More...

const uint8_t	TRIGGER_FEEDBACK_MODE_CATCH = 0x02
	A single point of resistance at the beginning of the trigger, right before the click flag is activated. More...

const uint32_t	CRC_POLYNOMIAL = 0xedb88320

Detailed Description

Driver for the PlayStation Sense motion controllers.

Enumeration Type Documentation

◆ pssense_input_index

enum pssense_input_index

#include <drivers/pssense/pssense_driver.c>

Indices where each input is in the input list.

Function Documentation

◆ pssense_found()

int pssense_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/pssense/pssense_driver.c>

Probing function for PlayStation Sense devices.

See also: xrt_prober_found_func_t

References xrt_prober::xrt_prober_get_string_descriptor(), and xrt_prober::xrt_prober_open_hid_interface().

◆ pssense_get_calibration_data()

bool pssense_get_calibration_data ( struct pssense_device * pssense )

#include <drivers/pssense/pssense_driver.c>

Retrieving the calibration data report will switch the Sense controller from compat mode into full mode.

◆ pssense_get_fusion_pose()

static void pssense_get_fusion_pose	(	struct pssense_device *	pssense,
		enum xrt_input_name	name,
		uint64_t	at_timestamp_ns,
		struct xrt_space_relation *	out_relation
	)

static

#include <drivers/pssense/pssense_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.

References m_imu_3dof::gyro, and xrt_quat::math_quat_rotate_derivative().

◆ pssense_read_one_packet()

static bool pssense_read_one_packet	(	struct pssense_device *	pssense,
		uint8_t *	buffer,
		size_t	size,
		bool	check_size
	)

static

#include <drivers/pssense/pssense_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().

Variable Documentation

◆ binding_profiles_pssense

struct xrt_binding_profile binding_profiles_pssense[1]

static

#include <drivers/pssense/pssense_driver.c>

Initial value:

= {
    {
        .name = XRT_DEVICE_SIMPLE_CONTROLLER,
        .inputs = simple_inputs_pssense,
        .input_count = ARRAY_SIZE(simple_inputs_pssense),
        .outputs = simple_outputs_pssense,
        .output_count = ARRAY_SIZE(simple_outputs_pssense),
    },
}

◆ PSSENSE_ACCEL_SCALE

const double PSSENSE_ACCEL_SCALE = MATH_GRAVITY_M_S2 / 4096

#include <drivers/pssense/pssense_driver.c>

Accelerometer read value range is +-32768 and covers +-8 g.

◆ PSSENSE_GYRO_SCALE_DEG

const double PSSENSE_GYRO_SCALE_DEG = 180.0 / 1024

#include <drivers/pssense/pssense_driver.c>

Gyro read value range is +-32768.

◆ simple_inputs_pssense

struct xrt_binding_input_pair simple_inputs_pssense[4]

static

#include <drivers/pssense/pssense_driver.c>

Initial value:

= {
    {XRT_INPUT_SIMPLE_SELECT_CLICK, XRT_INPUT_PSSENSE_TRIGGER_VALUE},
    {XRT_INPUT_SIMPLE_MENU_CLICK, XRT_INPUT_PSSENSE_OPTIONS_CLICK},
    {XRT_INPUT_SIMPLE_GRIP_POSE, XRT_INPUT_PSSENSE_GRIP_POSE},
    {XRT_INPUT_SIMPLE_AIM_POSE, XRT_INPUT_PSSENSE_AIM_POSE},
}

◆ simple_outputs_pssense

struct xrt_binding_output_pair simple_outputs_pssense[1]

static

#include <drivers/pssense/pssense_driver.c>

Initial value:

= {
    {XRT_OUTPUT_NAME_SIMPLE_VIBRATION, XRT_OUTPUT_NAME_PSSENSE_VIBRATION},
}

◆ TRIGGER_FEEDBACK_ENABLE_BITS

const uint8_t TRIGGER_FEEDBACK_ENABLE_BITS = 0x04

#include <drivers/pssense/pssense_driver.c>

Flag bits to enable setting trigger feedback in an output report.

◆ TRIGGER_FEEDBACK_MODE_CATCH

const uint8_t TRIGGER_FEEDBACK_MODE_CATCH = 0x02

#include <drivers/pssense/pssense_driver.c>

A single point of resistance at the beginning of the trigger, right before the click flag is activated.

◆ TRIGGER_FEEDBACK_MODE_CONSTANT

const uint8_t TRIGGER_FEEDBACK_MODE_CONSTANT = 0x01

#include <drivers/pssense/pssense_driver.c>

Constant resistance throughout the trigger movement.

◆ TRIGGER_FEEDBACK_MODE_NONE

const uint8_t TRIGGER_FEEDBACK_MODE_NONE = 0x00

#include <drivers/pssense/pssense_driver.c>

Clear the trigger feedback setting.

◆ VIBRATE_ENABLE_BITS

const uint8_t VIBRATE_ENABLE_BITS = 0x03

#include <drivers/pssense/pssense_driver.c>

Flag bits to enable setting vibration in an output report.

◆ VIBRATE_MODE_CLASSIC_RUMBLE

const uint8_t VIBRATE_MODE_CLASSIC_RUMBLE = 0x40

#include <drivers/pssense/pssense_driver.c>

Emulates a legacy vibration motor.

◆ VIBRATE_MODE_DIET_RUMBLE

const uint8_t VIBRATE_MODE_DIET_RUMBLE = 0x60

#include <drivers/pssense/pssense_driver.c>

Softer rumble emulation, like an engine running.

◆ VIBRATE_MODE_HIGH_120HZ

const uint8_t VIBRATE_MODE_HIGH_120HZ = 0x00

#include <drivers/pssense/pssense_driver.c>

Pure 120Hz vibration.

◆ VIBRATE_MODE_LOW_60HZ

const uint8_t VIBRATE_MODE_LOW_60HZ = 0x20

#include <drivers/pssense/pssense_driver.c>

Pure 60Hz vibration.

Files

Data Structures

Macros

Enumerations

Functions

Variables

Detailed Description

Enumeration Type Documentation

◆ pssense_input_index

Function Documentation

◆ pssense_found()

◆ pssense_get_calibration_data()

◆ pssense_get_fusion_pose()

◆ pssense_read_one_packet()

Variable Documentation

◆ binding_profiles_pssense

◆ PSSENSE_ACCEL_SCALE

◆ PSSENSE_GYRO_SCALE_DEG

◆ simple_inputs_pssense

◆ simple_outputs_pssense

◆ TRIGGER_FEEDBACK_ENABLE_BITS

◆ TRIGGER_FEEDBACK_MODE_CATCH

◆ TRIGGER_FEEDBACK_MODE_CONSTANT

◆ TRIGGER_FEEDBACK_MODE_NONE

◆ VIBRATE_ENABLE_BITS

◆ VIBRATE_MODE_CLASSIC_RUMBLE

◆ VIBRATE_MODE_DIET_RUMBLE

◆ VIBRATE_MODE_HIGH_120HZ

◆ VIBRATE_MODE_LOW_60HZ