pssense_protocol.h

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// Copyright 2023, Collabora, Ltd.
// Copyright 2023, Jarett Millard
// Copyright 2026, Beyley Cardellio
// SPDX-License-Identifier: BSL-1.0
/*!
 * @file
 * @brief  PlayStation Sense controller prober and driver code.
 * @author Jarett Millard <jarett.millard@gmail.com>
 * @author Beyley Cardellio <ep1cm1n10n123@gmail.com>
 * @ingroup drv_pssense
 */
 
#pragma once
 
#include "xrt/xrt_byte_order.h"
 
#include "math/m_api.h"
 
 
#pragma pack(push, 1)
 
// @todo Remove when clang-format is updated in CI
// clang-format off
// IMU ticks are in thirds of a microsecond, so 1 tick = 333.333... nanoseconds
#define NS_TO_IMU_TICKS(ns) (((uint64_t)(ns) * 3) / 1000)
#define IMU_TICKS_TO_NS(ticks) (((uint64_t)(ticks) * 1000) / 3)
 
#define PERIOD_ID_TO_DURATION_NS(period_id) (time_duration_ns)(IMU_TICKS_TO_NS(150LLU * (uint64_t)period_id + 1250))
// @note: the +1 is to ensure things round correctly when dealing with converting to and back
#define DURATION_NS_TO_PERIOD_ID(duration_ns) (uint8_t)(((NS_TO_IMU_TICKS(duration_ns + 1) - 1250) / 150LLU) & 0xFF)
// clang-format on
 
#define STABLE_MIN_PERIOD_ID 20
 
#define MIN_PERIOD_ID 1
#define MAX_PERIOD_ID 42
 
#define PCM_SAMPLE_RATE 3000
#define PCM_HAPTIC_BUF_SIZE 32
 
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;
 
#define CALIBRATION_DATA_PART_ID_1 0
#define 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;
 
//! Gyro read value range is +-32768.
const double PSSENSE_GYRO_SCALE_DEG = 180.0 / 1024;
//! Accelerometer read value range is +-32768 and covers +-8 g.
const double PSSENSE_ACCEL_SCALE = MATH_GRAVITY_M_S2 / 4096;
 
const uint8_t CHARGE_STATE_DISCHARGING = 0x00;
const uint8_t CHARGE_STATE_CHARGING = 0x01;
const uint8_t CHARGE_STATE_FULL = 0x02;
const uint8_t CHARGE_STATE_ABNORMAL_VOLTAGE = 0x0A;
const uint8_t CHARGE_STATE_ABNORMAL_TEMP = 0x0B;
const uint8_t CHARGE_STATE_CHARGING_ERROR = 0x0F;
 
#define INPUT_REPORT_LENGTH 78
/*!
 * HID input report data packet.
 */
struct pssense_input_report
{
        uint8_t report_id;
        uint8_t bt_header;
        uint8_t thumbstick_x;
        uint8_t thumbstick_y;
        uint8_t trigger_value;
        uint8_t trigger_proximity;
        uint8_t squeeze_proximity;
        uint8_t unknown1[2]; // Always 0x0001
        uint8_t buttons[3];
        uint8_t unknown2; // Always 0x00
        __le32 seq_no;
        __le16 gyro[3];
        __le16 accel[3];
        __le32 imu_ticks;
        uint8_t temperature;
        uint8_t unknown3[7];
        uint8_t trigger_feedback_state;
        uint8_t trigger_feedback_mode;
        uint8_t battery_state; // High bits charge level 0x00-0x0a, low bits battery state
        uint8_t plug_state;    // Flags for USB data and/or power connected
        __le32 host_timestamp;
        __le32 device_timestamp_ticks;
        uint8_t unknown4[4];
        uint8_t aes_cmac[8];
        uint8_t unknown5;
        uint8_t crc_failure_count;
        uint8_t padding[7];
        __le32 crc;
};
static_assert(sizeof(struct pssense_input_report) == INPUT_REPORT_LENGTH, "Incorrect input report struct length");
 
#define PS5_OUTPUT_REPORT_LENGTH 78
 
enum pssense_output_settings_flag1
{
        PSSENSE_OUTPUT_SETTINGS_FLAG1_UNK0 = 1 << 0,
        PSSENSE_OUTPUT_SETTINGS_FLAG1_RUMBLE_EMULATION = 1 << 1,
        PSSENSE_OUTPUT_SETTINGS_FLAG1_ADAPTIVE_TRIGGER_ENABLE = 1 << 2,
        PSSENSE_OUTPUT_SETTINGS_FLAG1_INTENSITY_INCREASE_SET_ENABLE = 1 << 3,
        PSSENSE_OUTPUT_SETTINGS_FLAG1_INTENSITY_REDUCTION_SET_ENABLE = 1 << 4,
        PSSENSE_OUTPUT_SETTINGS_FLAG1_UNK5 = 1 << 5,
        PSSENSE_OUTPUT_SETTINGS_FLAG1_UNK6 = 1 << 6,
        PSSENSE_OUTPUT_SETTINGS_FLAG1_UNK7 = 1 << 7,
};
 
#define OUTPUT_SETTINGS_ENABLE_VIBRATION_BITS                                                                          \
        (PSSENSE_OUTPUT_SETTINGS_FLAG1_UNK0 | PSSENSE_OUTPUT_SETTINGS_FLAG1_RUMBLE_EMULATION)
 
#define OUTPUT_SETTINGS_VIBRATE_MODE_HIGH_120HZ 0x00
// 0x20
#define OUTPUT_SETTINGS_VIBRATE_MODE_LOW_60HZ (PSSENSE_OUTPUT_SETTINGS_FLAG1_UNK5)
// 0x40
#define OUTPUT_SETTINGS_VIBRATE_MODE_CLASSIC_RUMBLE (PSSENSE_OUTPUT_SETTINGS_FLAG1_UNK6)
// 0x60
#define OUTPUT_SETTINGS_VIBRATE_MODE_DIET_RUMBLE                                                                       \
        (PSSENSE_OUTPUT_SETTINGS_FLAG1_UNK5 | PSSENSE_OUTPUT_SETTINGS_FLAG1_UNK6)
 
enum pssense_output_settings_flag2
{
        PSSENSE_OUTPUT_SETTINGS_FLAG2_UNK0 = 1 << 0,
        PSSENSE_OUTPUT_SETTINGS_FLAG2_UNK1 = 1 << 1,
        //! Used to mark whether to read the status LED enable bool or not.
        PSSENSE_OUTPUT_SETTINGS_FLAG2_STATUS_LED_SET_ENABLE = 1 << 2,
        PSSENSE_OUTPUT_SETTINGS_FLAG2_UNK3 = 1 << 3,
        PSSENSE_OUTPUT_SETTINGS_FLAG2_UNK4 = 1 << 4,
        PSSENSE_OUTPUT_SETTINGS_FLAG2_UNK5 = 1 << 5,
        PSSENSE_OUTPUT_SETTINGS_FLAG2_UNK6 = 1 << 6,
        PSSENSE_OUTPUT_SETTINGS_FLAG2_UNK7 = 1 << 7,
};
 
enum pssense_adaptive_trigger_mode
{
        TRIGGER_FEEDBACK_MODE_OFF = 0x05,
 
        // simple versions of other effects, shouldn't be used
        TRIGGER_FEEDBACK_MODE_SIMPLE_FEEDBACK = 0x01,
        TRIGGER_FEEDBACK_MODE_SIMPLE_WEAPON = 0x02,
        TRIGGER_FEEDBACK_MODE_SIMPLE_VIBRATION = 0x06,
 
        // limited versions of official
        TRIGGER_FEEDBACK_MODE_LIMITED_FEEDBACK = 0x11,
        TRIGGER_FEEDBACK_MODE_LIMITED_WEAPON = 0x12,
 
        // official ones found through reverse engineering
        TRIGGER_FEEDBACK_MODE_FEEDBACK = 0x21,
        TRIGGER_FEEDBACK_MODE_SLOPE_FEEDBACK = 0x22, // aka Bow
        TRIGGER_FEEDBACK_MODE_WEAPON = 0x25,
        TRIGGER_FEEDBACK_MODE_VIBRATION = 0x26,
 
        // unofficial ones found through fuzzing firmware
        TRIGGER_FEEDBACK_MODE_GALLOPING = 0x23,
        TRIGGER_FEEDBACK_MODE_MACHINE = 0x27,
};
 
struct pssense_output_adaptive_trigger_settings
{
        uint8_t mode; // See enum pssense_adaptive_trigger_mode
        union {
                uint8_t raw_parameters[10];
        };
};
 
enum pssense_led_sync_phase
{
        // initializing
        LED_SYNC_PHASE_INIT = 0,
        // ???
        LED_SYNC_PHASE_PRESCAN = 1,
        // ???
        LED_SYNC_PHASE_BROAD = 2,
        // ???
        LED_SYNC_PHASE_BG = 3,
        // ???
        LED_SYNC_PHASE_STABLE = 4,
        // used during passthrough to prevent LEDs from bleeding into it
        LED_SYNC_PHASE_LED_ALL_OFF = 5,
        // probably 100% duty cycle?
        LED_SYNC_PHASE_LED_ALL_ON = 6,
        // probably also 100% duty cycle?
        LED_SYNC_PHASE_DEBUG = 7,
};
 
struct pssense_led_settings
{
        uint8_t phase;
        uint8_t sequence_number;
        uint8_t period_id;
        //! The position, in IMU ticks, @ref NS_PER_IMU_TICK
        __le32 cycle_position;
        //! The length, in thirds of a nanosecond.
        __le32 cycle_length;
        uint8_t led_blink[4];
};
 
struct pssense_output_settings
{
        //! See enum pssense_output_settings_flag1
        uint8_t flag1;
        //! See enum pssense_output_settings_flag2
        uint8_t flag2;
        //! Vibration amplitude from 0x00-0xff. Sending 0 turns vibration off.
        uint8_t vibration_amplitude;
        //! Sony driver sometimes sets to 0x82.
        uint8_t unk0;
        //! Settings for the adaptive trigger
        struct pssense_output_adaptive_trigger_settings trigger_settings;
        //! Time of packet send, in host time, in microseconds
        __le32 host_timestamp_send_time_us;
        //! Settings of the tracking LEDs.
        struct pssense_led_settings led_settings;
        //! Lower 4 bits for haptics reduction, upper 4 bits for trigger reduction. Decreases in 12.5% increments.
        uint8_t trigger_haptics_reduction;
        //! Whether to enable the status LED or not.
        uint8_t status_led_enable;
        uint8_t unk1[2];
};
static_assert(sizeof(struct pssense_output_settings) == 38, "Incorrect output settings struct length");
 
/**
 * HID output report data packet matching the PS5 layout, with PCM haptics.
 *
 * Reference:
 * https://github.com/BnuuySolutions/PSVR2Toolkit/blob/b6ffe9f03cb2456d9d07aea74e839d9c5fd188f5/projects/psvr2_openvr_driver_ex/sense_controller.h#L44
 */
struct pssense_ps5_output_report
{
        uint8_t report_id;
        uint8_t seq_no_mode; // High bits only; low bits are always 0
        uint8_t tag;         // Needs to be 0x10 for this report
        struct pssense_output_settings settings;
        uint8_t counter;
        uint8_t haptics[PCM_HAPTIC_BUF_SIZE];
        __le32 crc;
};
static_assert(sizeof(struct pssense_ps5_output_report) == PS5_OUTPUT_REPORT_LENGTH,
              "Incorrect output report struct length");
 
#define FEATURE_REPORT_LENGTH 64
#define CALIBRATION_DATA_LENGTH 116
 
/**
 * HID output report data packet.
 */
struct pssense_feature_report
{
        uint8_t report_id;
        uint8_t part_id;
        uint8_t data[CALIBRATION_DATA_LENGTH / 2];
        __le32 crc;
};
static_assert(sizeof(struct pssense_feature_report) == FEATURE_REPORT_LENGTH, "Incorrect feature report struct length");
 
#pragma pack(pop)