mirror of
https://gitlab.freedesktop.org/monado/monado.git
synced 2025-01-23 23:21:46 +00:00
118 lines
2.4 KiB
C
118 lines
2.4 KiB
C
|
/*
|
||
|
|
* 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
|