rift_s_controller.h

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/*
 * Copyright 2020 Jan Schmidt
 * SPDX-License-Identifier: BSL-1.0
 *
 * OpenHMD - Free and Open Source API and drivers for immersive technology.
 */
 
/*!
 * @file
 * @brief  Oculus Rift S Touch Controller interface
 * @author Jan Schmidt <jan@centricular.com>
 * @ingroup drv_rift_s
 */
 
#ifndef RIFT_S_CONTROLLER_H
#define RIFT_S_CONTROLLER_H
 
#include "math/m_imu_3dof.h"
 
#include "os/os_time.h"
#include "xrt/xrt_device.h"
 
#include "rift_s.h"
 
#define MAX_LOG_SIZE 1024
 
typedef struct
{
        uint16_t accel_limit;
        uint16_t gyro_limit;
        uint16_t accel_hz;
        uint16_t gyro_hz;
 
        float accel_scale;
        float gyro_scale;
} rift_s_controller_config;
 
struct rift_s_controller
{
        struct xrt_device base;
 
        struct os_mutex mutex;
 
        struct xrt_pose pose;
 
        /* The system this controller belongs to / receives reports from */
        struct rift_s_system *sys;
 
        uint64_t device_id;
        rift_s_device_type device_type;
 
        /* Debug logs */
        /* 0x04 = new log line
         * 0x02 = parity bit, toggles each line when receiving log chars
         * other bits, unknown */
        uint8_t log_flags;
        int log_bytes;
        uint8_t log[MAX_LOG_SIZE];
 
        /* IMU tracking */
        bool imu_time_valid;
        uint32_t imu_timestamp32;
        timepoint_ns last_imu_device_time_ns;
        timepoint_ns last_imu_local_time_ns;
 
        uint16_t imu_unknown_varying2;
        int16_t raw_accel[3];
        int16_t raw_gyro[3];
 
        struct xrt_vec3 accel;
        struct xrt_vec3 gyro;
        struct xrt_vec3 mag;
        struct m_imu_3dof fusion;
 
        /* Controls / buttons state */
        timepoint_ns last_controls_local_time_ns;
 
        /* 0x8, 0x0c 0x0d or 0xe block */
        uint8_t mask08;
        uint8_t buttons;
        uint8_t fingers;
        uint8_t mask0e;
 
        uint16_t trigger;
        uint16_t grip;
 
        int16_t joystick_x;
        int16_t joystick_y;
 
        uint8_t capsense_a_x;
        uint8_t capsense_b_y;
        uint8_t capsense_joystick;
        uint8_t capsense_trigger;
 
        uint8_t extra_bytes_len;
        uint8_t extra_bytes[48];
 
        bool reading_config;
        bool have_config;
        rift_s_controller_config config;
 
        bool reading_calibration;
        bool have_calibration;
        struct rift_s_controller_imu_calibration calibration;
};
 
struct rift_s_controller *
rift_s_controller_create(struct rift_s_system *sys, enum xrt_device_type device_type);
 
void
rift_s_controller_update_configuration(struct rift_s_controller *ctrl, uint64_t device_id);
bool
rift_s_controller_handle_report(struct rift_s_controller *ctrl,
                                timepoint_ns local_ts,
                                rift_s_controller_report_t *report);
 
#endif