wmr_controller_base.c File Reference

Driver for WMR Controller. More...

#include "os/os_time.h"
#include "os/os_hid.h"
#include "math/m_mathinclude.h"
#include "math/m_api.h"
#include "math/m_clock_tracking.h"
#include "math/m_vec2.h"
#include "math/m_predict.h"
#include "util/u_file.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 "wmr_common.h"
#include "wmr_controller_base.h"
#include "wmr_config_key.h"
#include "wmr_source.h"
#include <ctype.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <assert.h>
#include <errno.h>

Include dependency graph for wmr_controller_base.c:

Macros
#define	WMR_TRACE(wcb, ...)   U_LOG_XDEV_IFL_T(&wcb->base, wcb->log_level, __VA_ARGS__)
#define	WMR_TRACE_HEX(wcb, ...)   U_LOG_XDEV_IFL_T_HEX(&wcb->base, wcb->log_level, __VA_ARGS__)
#define	WMR_DEBUG(wcb, ...)   U_LOG_XDEV_IFL_D(&wcb->base, wcb->log_level, __VA_ARGS__)
#define	WMR_DEBUG_HEX(wcb, ...)   U_LOG_XDEV_IFL_D_HEX(&wcb->base, wcb->log_level, __VA_ARGS__)
#define	WMR_INFO(wcb, ...)   U_LOG_XDEV_IFL_I(&wcb->base, wcb->log_level, __VA_ARGS__)
#define	WMR_WARN(wcb, ...)   U_LOG_XDEV_IFL_W(&wcb->base, wcb->log_level, __VA_ARGS__)
#define	WMR_ERROR(wcb, ...)   U_LOG_XDEV_IFL_E(&wcb->base, wcb->log_level, __VA_ARGS__)
#define	wmr_controller_hexdump_buffer(wcb, label, buf, length)

Functions
static struct wmr_controller_base *	wmr_controller_base (struct xrt_device *p)
static void	receive_bytes (struct wmr_controller_base *wcb, uint64_t time_ns, uint8_t *buffer, uint32_t buf_size)
static bool	wmr_controller_send_bytes (struct wmr_controller_base *wcb, const uint8_t *buffer, uint32_t buf_size)
static int	wmr_controller_read_sync (struct wmr_controller_base *wcb, uint8_t *buffer, uint32_t buf_size, int timeout_ms)
static int	wmr_controller_send_fw_cmd (struct wmr_controller_base *wcb, const struct wmr_controller_fw_cmd *fw_cmd, unsigned char response_code, struct wmr_controller_fw_cmd_response *response)
static XRT_MAYBE_UNUSED int	wmr_read_fw_block (struct wmr_controller_base *d, uint8_t blk_id, uint8_t **out_data, size_t *out_size)
static bool	read_controller_fw_info (struct wmr_controller_base *wcb, uint32_t *fw_revision, uint16_t *calibration_size, char serial_no[16])
char *	build_cache_filename (char *serial_no)
static bool	read_calibration_cache (struct wmr_controller_base *wcb, char *cache_filename)
static void	write_calibration_cache (struct wmr_controller_base *wcb, char *cache_filename, uint8_t *data, size_t data_size)
static bool	read_controller_config (struct wmr_controller_base *wcb)
static xrt_result_t	wmr_controller_base_get_tracked_pose (struct xrt_device *xdev, enum xrt_input_name name, int64_t at_timestamp_ns, struct xrt_space_relation *out_relation)
void	wmr_controller_base_handle_imu_sample (struct wmr_controller_base *wcb, uint64_t time_ns, uint64_t timestamp_ticks, const struct xrt_vec3 *acc, const struct xrt_vec3 *gyro)
	Handle IMU sample after packet parsing.
void	wmr_controller_base_deinit (struct wmr_controller_base *wcb)
bool	wmr_controller_base_init (struct wmr_controller_base *wcb, struct wmr_controller_connection *conn, enum xrt_device_type controller_type, enum u_logging_level log_level, u_device_destroy_function_t destroy_fn, struct xrt_fs *src)

Detailed Description

Driver for WMR Controller.

Author

Jan Schmidt jan@c.nosp@m.entr.nosp@m.icula.nosp@m.r.co.nosp@m.m

Macro Definition Documentation

wmr_controller_hexdump_buffer

#define wmr_controller_hexdump_buffer	(		wcb,
			label,
			buf,
			length
	)

Value:

        do {                                                                                                           \
                WMR_DEBUG(wcb, "%s", label);                                                                           \
                WMR_DEBUG_HEX(wcb, buf, length);                                                                       \
        } while (0);

Function Documentation

wmr_controller_base_handle_imu_sample()

void wmr_controller_base_handle_imu_sample	(	struct wmr_controller_base *	wcb,
		uint64_t	time_ns,
		uint64_t	timestamp_ticks,
		const struct xrt_vec3 *	acc,
		const struct xrt_vec3 *	gyro
	)

Handle IMU sample after packet parsing.

References wmr_controller_base::base, wmr_controller_base::fusion, wmr_controller_base::last_angular_velocity, wmr_controller_base::last_imu_timestamp_ns, m_imu_3dof_update(), wmr_controller_base::source, and wmr_source_push_imu_packet().