psvr_device.c File Reference

PSVR device implementation, imported from OpenHMD. More...

#include "xrt/xrt_compiler.h"
#include "xrt/xrt_tracking.h"
#include "os/os_time.h"
#include "os/os_threading.h"
#include "math/m_api.h"
#include "util/u_var.h"
#include "util/u_misc.h"
#include "util/u_time.h"
#include "util/u_debug.h"
#include "util/u_device.h"
#include "util/u_trace_marker.h"
#include "util/u_distortion_mesh.h"
#include "math/m_imu_3dof.h"
#include "math/m_mathinclude.h"
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include "psvr_device.h"

Include dependency graph for psvr_device.c:

Data Structures
struct	psvr_device
	Private struct for the PSVR driver device. More...

Macros
#define	PSVR_DEBUG(p, ...)   U_LOG_XDEV_IFL_D(&p->base, p->log_level, __VA_ARGS__)
#define	PSVR_ERROR(p, ...)   U_LOG_XDEV_IFL_E(&p->base, p->log_level, __VA_ARGS__)
#define	FEATURE_BUFFER_SIZE   256
#define	PSVR_LED_POWER_OFF   ((uint8_t)0x00)
#define	PSVR_LED_POWER_MAX   ((uint8_t)0xff)
#define	PSVR_LED_POWER_WIRE_OFF   ((uint8_t)0)
#define	PSVR_LED_POWER_WIRE_MAX   ((uint8_t)100)

Enumerations
enum	psvr_leds {   PSVR_LED_A = (1 << 0) , PSVR_LED_B = (1 << 1) , PSVR_LED_C = (1 << 2) , PSVR_LED_D = (1 << 3) ,   PSVR_LED_E = (1 << 4) , PSVR_LED_F = (1 << 5) , PSVR_LED_G = (1 << 6) , PSVR_LED_H = (1 << 7) ,   PSVR_LED_I = (1 << 8) , PSVR_LED_FRONT = PSVR_LED_A | PSVR_LED_B | PSVR_LED_C | PSVR_LED_D | PSVR_LED_E | PSVR_LED_F | PSVR_LED_G , PSVR_LED_BACK = PSVR_LED_H | PSVR_LED_I , PSVR_LED_ALL = PSVR_LED_FRONT | PSVR_LED_BACK }

Functions
static struct psvr_device *	psvr_device (struct xrt_device *p)
static int	open_hid (struct psvr_device *p, struct hid_device_info *dev_info, hid_device **out_dev)
static int	send_to_control (struct psvr_device *psvr, const uint8_t *data, size_t size)
static int	send_request_data (struct psvr_device *psvr, uint8_t id, uint8_t num)
static uint8_t	scale_led_power (uint8_t power)
static void	read_sample_and_apply_calibration (struct psvr_device *psvr, struct psvr_parsed_sample *sample, struct xrt_vec3 *out_accel, struct xrt_vec3 *out_gyro)
static void	update_fusion_locked (struct psvr_device *psvr, struct psvr_parsed_sample *sample, uint64_t timestamp_ns)
static void	update_fusion (struct psvr_device *psvr, struct psvr_parsed_sample *sample, uint64_t timestamp_ns)
static uint32_t	calc_delta_and_handle_rollover (uint32_t next, uint32_t last)
static timepoint_ns	ensure_forward_progress_timestamps (struct psvr_device *psvr, timepoint_ns timestamp_ns)
static void	handle_tracker_sensor_msg (struct psvr_device *psvr, unsigned char *buffer, int size)
static void	sensor_clear_queue (struct psvr_device *psvr)
static int	sensor_read_one_packet (struct psvr_device *psvr)
static void *	sensor_thread (void *ptr)
static void	handle_control_status_msg (struct psvr_device *psvr, unsigned char *buffer, int size)
static void	handle_device_name_msg (struct psvr_device *psvr, unsigned char *buffer, int size)
static void	handle_calibration_msg (struct psvr_device *psvr, const unsigned char *buffer, size_t size)
static void	handle_control_0x82 (struct psvr_device *psvr, unsigned char *buffer, int size)
static void	handle_control_0xA0 (struct psvr_device *psvr, unsigned char *buffer, int size)
static int	read_control_packets (struct psvr_device *psvr)
static int	read_calibration_data (struct psvr_device *psvr)
	Get the device name data and calibration data, see link below for info. More...
static int	wait_for_power (struct psvr_device *psvr, bool on)
static int	wait_for_vr_mode (struct psvr_device *psvr, bool on)
static int	control_power_and_wait (struct psvr_device *psvr, bool on)
static int	control_vrmode_and_wait (struct psvr_device *psvr, bool on)
static int	update_leds_if_changed (struct psvr_device *psvr)
static int	control_leds (struct psvr_device *psvr, enum psvr_leds adjust, uint8_t power, enum psvr_leds off)
	Control the leds on the headset, allowing you to turn on and off different leds with a single call. More...
static int	disco_leds (struct psvr_device *psvr)
static void	teardown (struct psvr_device *psvr)
static xrt_result_t	psvr_device_update_inputs (struct xrt_device *xdev)
static xrt_result_t	psvr_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 void	psvr_device_destroy (struct xrt_device *xdev)
static bool	psvr_compute_distortion (struct xrt_device *xdev, uint32_t view, float u, float v, struct xrt_uv_triplet *result)
struct xrt_device *	psvr_device_create_auto_prober (struct hid_device_info *sensor_hid_info, struct hid_device_info *control_hid_info, struct xrt_tracked_psvr *tracker, enum u_logging_level log_level)

Variables
static XRT_MAYBE_UNUSED const unsigned char	psvr_tracking_on [12]

Detailed Description

PSVR device implementation, imported from OpenHMD.

Author

Joey Ferwerda joeyf.nosp@m.erwe.nosp@m.da@gm.nosp@m.ail..nosp@m.com

Philipp Zabel phili.nosp@m.pp.z.nosp@m.abel@.nosp@m.gmai.nosp@m.l.com

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

Function Documentation

handle_device_name_msg()

static void handle_device_name_msg ( struct psvr_device *  psvr, unsigned char *  buffer, int  size  )

static

Todo:

Get the name here.

psvr_device_get_tracked_pose()

static xrt_result_t psvr_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

Todo:

Move this to the tracker.

read_calibration_data()

static int read_calibration_data ( struct psvr_device *  psvr )

static

Get the device name data and calibration data, see link below for info.

https://github.com/gusmanb/PSVRFramework/wiki/Report-0x81-Device-ID-and-Calibration

Variable Documentation

psvr_tracking_on

XRT_MAYBE_UNUSED const unsigned char psvr_tracking_on[12]

static

Initial value:

= {
    0x11, 0x00, 0xaa, 0x08, 0x00, 0xff, 0xff, 0xff, 0x00, 0x00, 0x00, 0x00,
}