psvr2_protocol.h

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// Copyright 2023, Jan Schmidt
// Copyright 2024, Joel Valenciano
// Copyright 2025, Beyley Cardellio
// SPDX-License-Identifier: BSL-1.0
/*!
 * @file
 * @brief  PSVR2 HMD protocol defines
 *
 * @author Jan Schmidt <jan@centricular.com>
 * @author Joel Valenciano <joelv1907@gmail.com>
 * @author Beyley Cardellio <ep1cm1n10n123@gmail.com>
 * @ingroup drv_psvr2
 */
#pragma once
 
 
#define PSVR2_SLAM_INTERFACE 3
#define PSVR2_SLAM_ENDPOINT 3
 
#define PSVR2_GAZE_INTERFACE 5
#define PSVR2_GAZE_ENDPOINT 0x85
 
#define PSVR2_CAMERA_INTERFACE 6
#define PSVR2_CAMERA_ENDPOINT 7
 
#define PSVR2_STATUS_INTERFACE 7
#define PSVR2_STATUS_ENDPOINT 8
 
#define PSVR2_LD_INTERFACE 8
#define PSVR2_LD_ENDPOINT 9
 
#define PSVR2_RP_INTERFACE 9
#define PSVR2_RP_ENDPOINT 10
 
#define PSVR2_VD_INTERFACE 10
#define PSVR2_VD_ENDPOINT 11
 
#define USB_SLAM_XFER_SIZE 1024
#define USB_STATUS_XFER_SIZE 1024
#define USB_GAZE_XFER_SIZE 32768
#define USB_CAM_MODE10_XFER_SIZE 1040640
#define USB_CAM_MODE1_XFER_SIZE 819456
#define USB_LD_XFER_SIZE 36944
#define USB_RP_XFER_SIZE 821120
#define USB_VD_XFER_SIZE 32768
 
#define SERIAL_LENGTH 14
 
#define GYRO_SCALE (2000.0 / 32767.0)
#define ACCEL_SCALE (4.0 * MATH_GRAVITY_M_S2 / 32767.0)
 
#define IMU_FREQ 2000.0f
#define IMU_PERIOD_NS ((time_duration_ns)(1000000000.0f / IMU_FREQ))
 
enum psvr2_report_id
{
        PSVR2_REPORT_ID_SET_PERIPHERAL = 0x8,
        PSVR2_REPORT_ID_SET_CAMERA_MODE = 0xB,
        PSVR2_REPORT_ID_SET_GAZE_STREAM = 0xC,
        PSVR2_REPORT_ID_SET_GAZE_USER_CALIBRATION = 0xD,
        PSVR2_REPORT_ID_SET_BRIGHTNESS = 0x12,
};
 
enum psvr2_gaze_stream_subcommand
{
        PSVR2_GAZE_STREAM_SUBCMD_ENABLE = 0x01,
        PSVR2_GAZE_STREAM_SUBCMD_DISABLE = 0x02,
};
 
enum psvr2_set_peripheral_subcommand
{
        PSVR2_SET_PERIPHERAL_SUBCMD_MOTOR = 0x01,
};
 
struct imu_record
{
        uint32_t vts_us;
        int16_t accel[3];
        int16_t gyro[3];
        uint16_t dp_frame_cnt;
        uint16_t dp_line_cnt;
        uint16_t imu_ts_us;
        uint16_t status;
};
 
struct imu_usb_record
{
        __le32 vts_us;
        __le16 accel[3];
        __le16 gyro[3];
        __le16 dp_frame_cnt;
        __le16 dp_line_cnt;
        __le16 imu_ts_us;
        __le16 status;
} __attribute__((packed));
 
struct status_record_hdr
{
        uint8_t dprx_status;      //< 0 = not ready. 2 = cinematic? and 1 = unknown. HDCP? Other?
        uint8_t prox_sensor_flag; //< 0 = not triggered. 1 = triggered?
        uint8_t function_button;  //< 0 = not pressed, 1 = pressed
        uint8_t empty0[2];
        uint8_t ipd_dial_mm; //< 59 to 72mm
 
        uint8_t remainder[26];
} __attribute__((packed));
 
struct slam_usb_record
{
        char SLAhdr[3];    //< "SLA"
        uint8_t const1;    //< Constant 0x01?
        __le32 pkt_size;   //< 0x0200 = 512 bytes;
        __le32 vts_ts_us;  //< Timestamp
        __le32 unknown1;   //< Unknown. Constant 3?
        __lef32 pos[3];    //< 32-bit floats
        __lef32 orient[4]; //< Orientation quaternion
        uint8_t remainder[468];
} __attribute__((packed));
 
struct sie_ctrl_pkt
{
        __le16 report_id;
        __le16 subcmd;
        __le32 len;
        uint8_t data[512 - 8];
} __attribute__((packed));
 
enum psvr2_camera_mode
{
        PSVR2_CAMERA_MODE_OFF = 0,
        // 819456 byte 640x640x2 SBS bottom cameras
        PSVR2_CAMERA_MODE_BOTTOM_SBS_CROPPED = 1,
        // 819456 byte 640x640x2 SBS (mode 1) + 409856 byte 640x640 frames (from top cameras alternately) interleaved
        PSVR2_CAMERA_MODE_2 = 2,
        // 819456 byte 640x640x2 SBS interleaved bottom and top camera paired images
        PSVR2_CAMERA_MODE_3 = 3,
        // 520448 byte 512x508x2 Top-Bottom fisheye, *Controller Tracking* interleaved top and bottom camera pairs
        PSVR2_CAMERA_MODE_4 = 4,
        // 80256 byte 400x200 nearly black (no value higher than 0x0f)
        PSVR2_CAMERA_MODE_400_200_DARK = 5,
        // no packets / off
        PSVR2_CAMERA_MODE_EYE_CAMERAS = 6,
        // 819456 byte 640x640x2 + 520448 byte 512x508x2 fisheye *Controller Tracking* alternating bottom camera
        PSVR2_CAMERA_MODE_7 = 7,
        // 819456 byte 640x640x2 SBS bottom cameras + 80256 byte 400x200 nearly black packets like mode 5
        PSVR2_CAMERA_MODE_8 = 8,
        // interleaved mode 2 + mode 5 packets
        PSVR2_CAMERA_MODE_9 = 9,
        // 640x640x2 SBS interleaved bottom and top cameras + 80256 byte mode 5 packets
        PSVR2_CAMERA_MODE_10 = 0xa,
        // Mode 4 + Mode 5 packets interleaved
        PSVR2_CAMERA_MODE_11 = 0xb,
        // 409856 byte 320x640x4 vertical stack of all 4 cameras + 260352 byte 256x254x4 vertical stack fisheye
        // controller-tracking all-4-cameras packets interleaved
        PSVR2_CAMERA_MODE_12 = 0xc,
        // mode 1, but upside down
        PSVR2_CAMERA_MODE_13 = 0xd,
        // mode 1 upside down + mode 4 bottom cameras only
        PSVR2_CAMERA_MODE_14 = 0xe,
        // mode 0xc + mode 5
        PSVR2_CAMERA_MODE_15 = 0xf,
        // 1024x1024x2 BC4 compressed images (really 1000x1000, with 24 padding pixels you can ignore on the
        // right/bottom)
        PSVR2_CAMERA_MODE_BOTTOM_SBS_BC4 = 0x10,
};