xreal_air_hmd.h

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// Copyright 2023-2024, Tobias Frisch
// SPDX-License-Identifier: BSL-1.0
/*!
 * @file
 * @brief  Xreal Air packet parsing implementation.
 * @author Tobias Frisch <thejackimonster@gmail.com>
 * @ingroup drv_xreal_air
 */
 
#pragma once
 
#include "xrt/xrt_device.h"
#include "xrt/xrt_prober.h"
 
#include "os/os_hid.h"
 
#include "util/u_logging.h"
 
#ifdef __cplusplus
extern "C" {
#endif
 
#define XREAL_AIR_HANDLE_IFACE 3
#define XREAL_AIR_CONTROL_IFACE 4
 
#define XREAL_AIR_MSG_R_BRIGHTNESS 0x03
#define XREAL_AIR_MSG_W_BRIGHTNESS 0x04
#define XREAL_AIR_MSG_R_DISP_MODE 0x07
#define XREAL_AIR_MSG_W_DISP_MODE 0x08
 
#define XREAL_AIR_MSG_P_START_HEARTBEAT 0x6c02
#define XREAL_AIR_MSG_P_BUTTON_PRESSED 0x6C05
#define XREAL_AIR_MSG_P_END_HEARTBEAT 0x6c12
#define XREAL_AIR_MSG_P_ASYNC_TEXT_LOG 0x6c09
 
#define XREAL_AIR_BUTTON_PHYS_DISPLAY_TOGGLE 0x1
#define XREAL_AIR_BUTTON_PHYS_BRIGHTNESS_UP 0x2
#define XREAL_AIR_BUTTON_PHYS_BRIGHTNESS_DOWN 0x3
 
#define XREAL_AIR_BUTTON_VIRT_DISPLAY_TOGGLE 0x1
#define XREAL_AIR_BUTTON_VIRT_MENU_TOGGLE 0x3
#define XREAL_AIR_BUTTON_VIRT_BRIGHTNESS_UP 0x6
#define XREAL_AIR_BUTTON_VIRT_BRIGHTNESS_DOWN 0x7
#define XREAL_AIR_BUTTON_VIRT_MODE_UP 0x8
#define XREAL_AIR_BUTTON_VIRT_MODE_DOWN 0x9
 
#define XREAL_AIR_BRIGHTNESS_MIN 0
#define XREAL_AIR_BRIGHTNESS_MAX 7
 
#define XREAL_AIR_DISPLAY_MODE_2D 0x1
#define XREAL_AIR_DISPLAY_MODE_3D 0x3
 
#define XREAL_AIR_TICKS_PER_SECOND (1000.0) // 1 KHz ticks
#define XREAL_AIR_NS_PER_TICK (1000000)     // Each tick is a millisecond
 
#define XREAL_AIR_MSG_GET_CAL_DATA_LENGTH 0x14
#define XREAL_AIR_MSG_CAL_DATA_GET_NEXT_SEGMENT 0x15
#define XREAL_AIR_MSG_ALLOCATE_CAL_DATA_BUFFER 0x16
#define XREAL_AIR_MSG_WRITE_CAL_DATA_SEGMENT 0x17
#define XREAL_AIR_MSG_FREE_CAL_BUFFER 0x18
#define XREAL_AIR_MSG_START_IMU_DATA 0x19
#define XREAL_AIR_MSG_GET_STATIC_ID 0x1A
#define XREAL_AIR_MSG_UNKNOWN 0x1D
 
struct xreal_air_parsed_calibration
{
        struct xrt_vec3 accel_bias;
        struct xrt_quat accel_q_gyro;
        struct xrt_vec3 gyro_bias;
        struct xrt_quat gyro_q_mag;
        struct xrt_vec3 mag_bias;
 
        struct xrt_vec3 scale_accel;
        struct xrt_vec3 scale_gyro;
        struct xrt_vec3 scale_mag;
 
        float imu_noises[4];
};
 
/*!
 * A parsed single gyroscope, accelerometer and
 * magnetometer sample with their corresponding
 * factors for conversion from raw data.
 *
 * @ingroup drv_xreal_air
 */
struct xreal_air_parsed_sample
{
        struct xrt_vec3_i32 accel;
        struct xrt_vec3_i32 gyro;
        struct xrt_vec3_i32 mag;
 
        int16_t accel_multiplier;
        int16_t gyro_multiplier;
        int16_t mag_multiplier;
 
        int32_t accel_divisor;
        int32_t gyro_divisor;
        int32_t mag_divisor;
};
 
/*!
 * Over the wire sensor packet from the glasses.
 *
 * @ingroup drv_xreal_air
 */
struct xreal_air_parsed_sensor
{
        int16_t temperature;
        uint64_t timestamp;
 
        struct xreal_air_parsed_sample sample;
};
 
/*!
 * Over the wire sensor control data packet from the glasses.
 *
 * @ingroup drv_xreal_air
 */
struct xreal_air_parsed_sensor_control_data
{
        uint16_t length;
        uint8_t msgid;
 
        uint8_t data[56];
};
 
/*!
 * A control packet from the glasses in wire format.
 *
 * @ingroup drv_xreal_air
 */
struct xreal_air_parsed_control
{
        uint16_t length;
        uint64_t timestamp;
        uint16_t action;
 
        uint8_t data[42];
};
 
/*!
 * Create Xreal Air glasses.
 *
 * @ingroup drv_xreal_air
 */
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);
 
bool
xreal_air_parse_calibration_buffer(struct xreal_air_parsed_calibration *calibration, const char *buffer, size_t size);
 
bool
xreal_air_parse_sensor_packet(struct xreal_air_parsed_sensor *sensor, const uint8_t *buffer, int size);
 
bool
xreal_air_parse_sensor_control_data_packet(struct xreal_air_parsed_sensor_control_data *data,
                                           const uint8_t *buffer,
                                           int size);
 
bool
xreal_air_parse_control_packet(struct xreal_air_parsed_control *control, const uint8_t *buffer, int size);
 
#ifdef __cplusplus
}
#endif