Monado OpenXR Runtime
Data Structures | Macros | Functions | Variables
xreal_air_hmd.c File Reference
Monado(XRT) » Drivers » Xreal Air driver

Xreal Air packet parsing implementation. More...

#include "xrt/xrt_compiler.h"
#include "os/os_hid.h"
#include "os/os_time.h"
#include "os/os_threading.h"
#include "math/m_api.h"
#include "math/m_imu_3dof.h"
#include "util/u_device.h"
#include "util/u_distortion_mesh.h"
#include "util/u_trace_marker.h"
#include "util/u_var.h"
#include "xreal_air_hmd.h"
#include "math/m_mathinclude.h"
#include "math/m_relation_history.h"
#include "xrt/xrt_defines.h"
#include <string.h>
#include <stdint.h>
#include <stdbool.h>
Include dependency graph for xreal_air_hmd.c:

Data Structures

struct  xreal_air_hmd
 Private struct for the xreal_air device. More...
 

Macros

#define XREAL_AIR_DEBUG(hmd, ...)   U_LOG_XDEV_IFL_D(&hmd->base, hmd->log_level, __VA_ARGS__)
 
#define XREAL_AIR_ERROR(hmd, ...)   U_LOG_XDEV_IFL_E(&hmd->base, hmd->log_level, __VA_ARGS__)
 
#define SENSOR_BUFFER_SIZE   64
 
#define CONTROL_BUFFER_SIZE   64
 
#define SENSOR_HEAD   0xFD
 
#define CONTROL_HEAD   0xFD
 

Functions

static struct xreal_air_hmd * xreal_air_hmd (struct xrt_device *dev)
 
static uint32_t crc32_checksum (const uint8_t *buf, uint32_t len)
 
static uint8_t scale_brightness (uint8_t brightness)
 
static uint8_t unscale_brightness (uint8_t scaled_brightness)
 
static bool send_payload_to_sensor (struct xreal_air_hmd *hmd, uint8_t msgid, const uint8_t *data, uint8_t len)
 
static void pre_biased_coordinate_system (struct xrt_vec3 *out)
 
static void post_biased_coordinate_system (const struct xrt_vec3 *in, struct xrt_vec3 *out)
 
static void read_sample_and_apply_calibration (struct xreal_air_hmd *hmd, struct xreal_air_parsed_sample *sample, struct xrt_vec3 *out_accel, struct xrt_vec3 *out_gyro, struct xrt_vec3 *out_mag)
 
static void update_fusion_locked (struct xreal_air_hmd *hmd, struct xreal_air_parsed_sample *sample, uint64_t timestamp_ns)
 
static void update_fusion (struct xreal_air_hmd *hmd, struct xreal_air_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 xreal_air_hmd *hmd, timepoint_ns timestamp_ns)
 
static void request_sensor_control_get_cal_data_length (struct xreal_air_hmd *hmd)
 
static void request_sensor_control_cal_data_get_next_segment (struct xreal_air_hmd *hmd)
 
static void request_sensor_control_get_static_id (struct xreal_air_hmd *hmd)
 
static void request_sensor_control_start_imu_data (struct xreal_air_hmd *hmd, uint8_t imu_stream_state)
 
static void handle_sensor_control_get_cal_data_length (struct xreal_air_hmd *hmd, const struct xreal_air_parsed_sensor_control_data *data)
 
static void handle_sensor_control_cal_data_get_next_segment (struct xreal_air_hmd *hmd, const struct xreal_air_parsed_sensor_control_data *data)
 
static void handle_sensor_control_start_imu_data (struct xreal_air_hmd *hmd, const struct xreal_air_parsed_sensor_control_data *data)
 
static void handle_sensor_control_get_static_id (struct xreal_air_hmd *hmd, const struct xreal_air_parsed_sensor_control_data *data)
 
static void handle_sensor_control_data_msg (struct xreal_air_hmd *hmd, unsigned char *buffer, int size)
 
static void handle_sensor_msg (struct xreal_air_hmd *hmd, unsigned char *buffer, int size)
 
static void sensor_clear_queue (struct xreal_air_hmd *hmd)
 
static int sensor_read_one_packet (struct xreal_air_hmd *hmd)
 
static int read_one_control_packet (struct xreal_air_hmd *hmd)
 
static void * read_thread (void *ptr)
 
static bool send_payload_to_control (struct xreal_air_hmd *hmd, uint16_t msgid, const uint8_t *data, uint8_t len)
 
static void handle_control_brightness (struct xreal_air_hmd *hmd, const struct xreal_air_parsed_control *control)
 
static void handle_control_display_mode (struct xreal_air_hmd *hmd, const struct xreal_air_parsed_control *control)
 
static void handle_control_heartbeat_start (struct xreal_air_hmd *hmd, const struct xreal_air_parsed_control *control)
 
static void handle_control_button (struct xreal_air_hmd *hmd, const struct xreal_air_parsed_control *control)
 
static void handle_control_async_text (struct xreal_air_hmd *hmd, const struct xreal_air_parsed_control *control)
 
static void handle_control_heartbeat_end (struct xreal_air_hmd *hmd, const struct xreal_air_parsed_control *control)
 
static void handle_control_action_locked (struct xreal_air_hmd *hmd, const struct xreal_air_parsed_control *control)
 
static void handle_control_msg (struct xreal_air_hmd *hmd, unsigned char *buffer, int size)
 
static void control_clear_queue (struct xreal_air_hmd *hmd)
 
static bool wait_for_brightness (struct xreal_air_hmd *hmd)
 
static bool wait_for_display_mode (struct xreal_air_hmd *hmd)
 
static bool control_brightness (struct xreal_air_hmd *hmd)
 
static bool control_display_mode (struct xreal_air_hmd *hmd)
 
static bool switch_display_mode (struct xreal_air_hmd *hmd, uint8_t display_mode)
 
static void teardown (struct xreal_air_hmd *hmd)
 
static void adjust_brightness (struct xreal_air_hmd *hmd)
 
static void adjust_display_mode (struct xreal_air_hmd *hmd)
 
static xrt_result_t xreal_air_hmd_update_inputs (struct xrt_device *xdev)
 
static xrt_result_t xreal_air_hmd_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 xreal_air_hmd_destroy (struct xrt_device *xdev)
 
static bool xreal_air_hmd_compute_distortion (struct xrt_device *xdev, uint32_t view, float u, float v, struct xrt_uv_triplet *result)
 
struct xrt_device * xreal_air_hmd_create_device (struct os_hid_device *sensor_device, struct os_hid_device *control_device, enum u_logging_level log_level)
 Create Xreal Air glasses. More...
 

Variables

const uint32_t crc32_table [256]
 

Detailed Description

Xreal Air packet parsing implementation.

Author
Tobias Frisch theja.nosp@m.ckim.nosp@m.onste.nosp@m.r@gm.nosp@m.ail.c.nosp@m.om

Variable Documentation

◆ crc32_table

const uint32_t crc32_table[256]
Initial value:
= {
0x00000000, 0x77073096, 0xEE0E612C, 0x990951BA, 0x076DC419, 0x706AF48F, 0xE963A535, 0x9E6495A3, 0x0EDB8832,
0x79DCB8A4, 0xE0D5E91E, 0x97D2D988, 0x09B64C2B, 0x7EB17CBD, 0xE7B82D07, 0x90BF1D91, 0x1DB71064, 0x6AB020F2,
0xF3B97148, 0x84BE41DE, 0x1ADAD47D, 0x6DDDE4EB, 0xF4D4B551, 0x83D385C7, 0x136C9856, 0x646BA8C0, 0xFD62F97A,
0x8A65C9EC, 0x14015C4F, 0x63066CD9, 0xFA0F3D63, 0x8D080DF5, 0x3B6E20C8, 0x4C69105E, 0xD56041E4, 0xA2677172,
0x3C03E4D1, 0x4B04D447, 0xD20D85FD, 0xA50AB56B, 0x35B5A8FA, 0x42B2986C, 0xDBBBC9D6, 0xACBCF940, 0x32D86CE3,
0x45DF5C75, 0xDCD60DCF, 0xABD13D59, 0x26D930AC, 0x51DE003A, 0xC8D75180, 0xBFD06116, 0x21B4F4B5, 0x56B3C423,
0xCFBA9599, 0xB8BDA50F, 0x2802B89E, 0x5F058808, 0xC60CD9B2, 0xB10BE924, 0x2F6F7C87, 0x58684C11, 0xC1611DAB,
0xB6662D3D, 0x76DC4190, 0x01DB7106, 0x98D220BC, 0xEFD5102A, 0x71B18589, 0x06B6B51F, 0x9FBFE4A5, 0xE8B8D433,
0x7807C9A2, 0x0F00F934, 0x9609A88E, 0xE10E9818, 0x7F6A0DBB, 0x086D3D2D, 0x91646C97, 0xE6635C01, 0x6B6B51F4,
0x1C6C6162, 0x856530D8, 0xF262004E, 0x6C0695ED, 0x1B01A57B, 0x8208F4C1, 0xF50FC457, 0x65B0D9C6, 0x12B7E950,
0x8BBEB8EA, 0xFCB9887C, 0x62DD1DDF, 0x15DA2D49, 0x8CD37CF3, 0xFBD44C65, 0x4DB26158, 0x3AB551CE, 0xA3BC0074,
0xD4BB30E2, 0x4ADFA541, 0x3DD895D7, 0xA4D1C46D, 0xD3D6F4FB, 0x4369E96A, 0x346ED9FC, 0xAD678846, 0xDA60B8D0,
0x44042D73, 0x33031DE5, 0xAA0A4C5F, 0xDD0D7CC9, 0x5005713C, 0x270241AA, 0xBE0B1010, 0xC90C2086, 0x5768B525,
0x206F85B3, 0xB966D409, 0xCE61E49F, 0x5EDEF90E, 0x29D9C998, 0xB0D09822, 0xC7D7A8B4, 0x59B33D17, 0x2EB40D81,
0xB7BD5C3B, 0xC0BA6CAD, 0xEDB88320, 0x9ABFB3B6, 0x03B6E20C, 0x74B1D29A, 0xEAD54739, 0x9DD277AF, 0x04DB2615,
0x73DC1683, 0xE3630B12, 0x94643B84, 0x0D6D6A3E, 0x7A6A5AA8, 0xE40ECF0B, 0x9309FF9D, 0x0A00AE27, 0x7D079EB1,
0xF00F9344, 0x8708A3D2, 0x1E01F268, 0x6906C2FE, 0xF762575D, 0x806567CB, 0x196C3671, 0x6E6B06E7, 0xFED41B76,
0x89D32BE0, 0x10DA7A5A, 0x67DD4ACC, 0xF9B9DF6F, 0x8EBEEFF9, 0x17B7BE43, 0x60B08ED5, 0xD6D6A3E8, 0xA1D1937E,
0x38D8C2C4, 0x4FDFF252, 0xD1BB67F1, 0xA6BC5767, 0x3FB506DD, 0x48B2364B, 0xD80D2BDA, 0xAF0A1B4C, 0x36034AF6,
0x41047A60, 0xDF60EFC3, 0xA867DF55, 0x316E8EEF, 0x4669BE79, 0xCB61B38C, 0xBC66831A, 0x256FD2A0, 0x5268E236,
0xCC0C7795, 0xBB0B4703, 0x220216B9, 0x5505262F, 0xC5BA3BBE, 0xB2BD0B28, 0x2BB45A92, 0x5CB36A04, 0xC2D7FFA7,
0xB5D0CF31, 0x2CD99E8B, 0x5BDEAE1D, 0x9B64C2B0, 0xEC63F226, 0x756AA39C, 0x026D930A, 0x9C0906A9, 0xEB0E363F,
0x72076785, 0x05005713, 0x95BF4A82, 0xE2B87A14, 0x7BB12BAE, 0x0CB61B38, 0x92D28E9B, 0xE5D5BE0D, 0x7CDCEFB7,
0x0BDBDF21, 0x86D3D2D4, 0xF1D4E242, 0x68DDB3F8, 0x1FDA836E, 0x81BE16CD, 0xF6B9265B, 0x6FB077E1, 0x18B74777,
0x88085AE6, 0xFF0F6A70, 0x66063BCA, 0x11010B5C, 0x8F659EFF, 0xF862AE69, 0x616BFFD3, 0x166CCF45, 0xA00AE278,
0xD70DD2EE, 0x4E048354, 0x3903B3C2, 0xA7672661, 0xD06016F7, 0x4969474D, 0x3E6E77DB, 0xAED16A4A, 0xD9D65ADC,
0x40DF0B66, 0x37D83BF0, 0xA9BCAE53, 0xDEBB9EC5, 0x47B2CF7F, 0x30B5FFE9, 0xBDBDF21C, 0xCABAC28A, 0x53B39330,
0x24B4A3A6, 0xBAD03605, 0xCDD70693, 0x54DE5729, 0x23D967BF, 0xB3667A2E, 0xC4614AB8, 0x5D681B02, 0x2A6F2B94,
0xB40BBE37, 0xC30C8EA1, 0x5A05DF1B, 0x2D02EF8D}