mirror of
https://gitlab.freedesktop.org/monado/monado.git
synced 2024-12-29 11:06:18 +00:00
d/wmr: Initial 3DoF WinMR driver
Only supports HP Reverb G1 and G2 for now. Squash of the following commits: Initial boilerplate code for HP Reverb G1 driver implementation Detect and open MS HoloLens Sensors interface Power up HMD display when headset is detected, and som general code cleanup Add Reverb G2 PID reverb_g1: Fix defines reverb_g1: Run clang format wmr: Rename Reverb G1 driver to WMR driver d/wmr: Code style d/wmr: Flesh out driver a bit more d/wmr: Code style Add basic 3dof rotational tracking d/wmr: Code style d/wmr: More tidy xrt: Remove XRT_DEVICE_REVERB_G1 d/wmr: Even more tidy d/wmr: Changes for Reverb G2 d/wmr: Fixes since last commit wmr: Fix the meson build and auto-enable the driver d/wmr: Sleep for compositor to get modes d/wmr: Use os_hid for control device d/wmr: Remove hidapi as a dependancy d/wmr: Move sensor reading to own thread and fix locking d/wmr: Read from control device and handle more unknown messages d/wmr: Decode IPD value from control device d/wmr: Remove all left over dummy driver fields Co-author: nima01 <nima_zero_one@protonmail.com> Co-author: Jakob Bornecrantz <jakob@collabora.com> Co-author: Jan Schmidt <jan@centricular.com>
This commit is contained in:
nima01
Jakob Bornecrantz
parent
0058525457
commit
027ce21bd5
|
|
@ -198,10 +198,10 @@ cmake_dependent_option(XRT_BUILD_DRIVER_HANDTRACKING "Enable Camera Hand Trackin
|
|||
cmake_dependent_option(XRT_BUILD_DRIVER_DAYDREAM "Enable the Google Daydream View controller driver (BLE, via D-Bus)" ON "XRT_HAVE_DBUS" OFF)
|
||||
cmake_dependent_option(XRT_BUILD_DRIVER_ARDUINO "Enable Arduino input device with BLE via via D-Bus" ON "XRT_HAVE_DBUS" OFF)
|
||||
cmake_dependent_option(XRT_BUILD_DRIVER_ILLIXR "Enable ILLIXR driver" ON "ILLIXR_PATH" OFF)
|
||||
|
||||
option(XRT_BUILD_DRIVER_DUMMY "Enable dummy driver" ON)
|
||||
cmake_dependent_option(XRT_BUILD_DRIVER_ULV2 "Enable Ultraleap v2 driver" ON "Leap" OFF)
|
||||
cmake_dependent_option(XRT_BUILD_DRIVER_REMOTE "Enable remote debugging driver" ON "XRT_HAVE_LINUX OR ANDROID" OFF)
|
||||
option(XRT_BUILD_DRIVER_WMR "Enable Windows Mixed Reality driver" ON)
|
||||
|
||||
# These all use the Monado internal hid wrapper.
|
||||
cmake_dependent_option(XRT_BUILD_DRIVER_HDK "Enable HDK driver" ON "XRT_HAVE_INTERNAL_HID" OFF)
|
||||
|
|
@ -239,6 +239,7 @@ list(APPEND AVAILABLE_DRIVERS
|
|||
"VF"
|
||||
"VIVE"
|
||||
"QWERTY"
|
||||
"WMR"
|
||||
)
|
||||
|
||||
|
||||
|
|
@ -378,6 +379,7 @@ message(STATUS "# DRIVER_SURVIVE: ${XRT_BUILD_DRIVER_SURVIVE}")
|
|||
message(STATUS "# DRIVER_VF: ${XRT_BUILD_DRIVER_VF}")
|
||||
message(STATUS "# DRIVER_VIVE: ${XRT_BUILD_DRIVER_VIVE}")
|
||||
message(STATUS "# DRIVER_QWERTY: ${XRT_BUILD_DRIVER_QWERTY}")
|
||||
message(STATUS "# DRIVER_WMR: ${XRT_BUILD_DRIVER_WMR}")
|
||||
message(STATUS "#####----- Config -----#####")
|
||||
|
||||
if(XRT_FEATURE_SERVICE AND NOT XRT_FEATURE_OPENXR)
|
||||
|
|
|
|||
2
doc/changes/big/mr.774.md
Normal file
2
doc/changes/big/mr.774.md
Normal file
|
|
@ -0,0 +1,2 @@
|
|||
New WinMR driver, the initial commit only adds simple 3DoF support and not
|
||||
distortion support.
|
||||
1
doc/changes/drivers/mr.774.md
Normal file
1
doc/changes/drivers/mr.774.md
Normal file
|
|
@ -0,0 +1 @@
|
|||
wmr: Initial commit of driver, 3DoF only.
|
||||
|
|
@ -161,7 +161,7 @@ if 'v4l2' in drivers
|
|||
endif
|
||||
|
||||
if 'auto' in drivers
|
||||
drivers += ['dummy', 'hdk', 'hydra', 'ns', 'psmv', 'remote']
|
||||
drivers += ['dummy', 'hdk', 'hydra', 'ns', 'psmv', 'remote', 'wmr']
|
||||
endif
|
||||
|
||||
openhmd = dependency('openhmd', required: openhmd_required)
|
||||
|
|
|
|||
|
|
@ -3,7 +3,7 @@
|
|||
|
||||
option('drivers',
|
||||
type: 'array',
|
||||
choices: ['auto', 'dummy', 'hdk', 'hydra', 'ns', 'ohmd', 'psmv', 'psvr', 'rs', 'v4l2', 'vf', 'vive', 'survive', 'daydream', 'arduino', 'remote', 'handtracking', 'qwerty', 'ulv2'],
|
||||
choices: ['auto', 'dummy', 'hdk', 'hydra', 'ns', 'ohmd', 'psmv', 'psvr', 'rs', 'v4l2', 'vf', 'vive', 'wmr', 'survive', 'daydream', 'arduino', 'remote', 'handtracking', 'qwerty', 'ulv2'],
|
||||
value: ['auto'],
|
||||
description: 'Set of drivers to build')
|
||||
|
||||
|
|
|
|||
|
|
@ -288,6 +288,22 @@ add_library(drv_multi STATIC ${MUlTI_SOURCE_FILES})
|
|||
target_link_libraries(drv_multi PUBLIC xrt-interfaces aux_util)
|
||||
list(APPEND ENABLED_HEADSET_DRIVERS drv_multi)
|
||||
|
||||
if(XRT_BUILD_DRIVER_WMR)
|
||||
set(WMR_SOURCE_FILES
|
||||
wmr/wmr_common.h
|
||||
wmr/wmr_hmd.c
|
||||
wmr/wmr_hmd.h
|
||||
wmr/wmr_interface.h
|
||||
wmr/wmr_prober.c
|
||||
wmr/wmr_protocol.c
|
||||
wmr/wmr_protocol.h
|
||||
)
|
||||
|
||||
add_library(drv_wmr STATIC ${WMR_SOURCE_FILES})
|
||||
target_link_libraries(drv_wmr PRIVATE xrt-interfaces aux_util)
|
||||
list(APPEND ENABLED_HEADSET_DRIVERS wmr)
|
||||
endif()
|
||||
|
||||
if(ENABLED_HEADSET_DRIVERS)
|
||||
set(ENABLED_DRIVERS ${ENABLED_HEADSET_DRIVERS} ${ENABLED_DRIVERS})
|
||||
list(SORT ENABLED_DRIVERS)
|
||||
|
|
|
|||
|
|
@ -268,3 +268,19 @@ lib_drv_qwerty = static_library(
|
|||
)
|
||||
|
||||
drv_qwerty_include = include_directories('qwerty')
|
||||
|
||||
lib_drv_wmr = static_library(
|
||||
'drv_wmr',
|
||||
files(
|
||||
'wmr/wmr_common.h',
|
||||
'wmr/wmr_hmd.c',
|
||||
'wmr/wmr_hmd.h',
|
||||
'wmr/wmr_interface.h',
|
||||
'wmr/wmr_prober.c',
|
||||
'wmr/wmr_protocol.c',
|
||||
'wmr/wmr_protocol.h',
|
||||
),
|
||||
include_directories: xrt_include,
|
||||
dependencies: [aux],
|
||||
build_by_default: 'wmr' in drivers,
|
||||
)
|
||||
|
|
|
|||
44
src/xrt/drivers/wmr/wmr_common.h
Normal file
44
src/xrt/drivers/wmr/wmr_common.h
Normal file
|
|
@ -0,0 +1,44 @@
|
|||
// Copyright 2020-2021, N Madsen.
|
||||
// Copyright 2020-2021, Collabora, Ltd.
|
||||
// SPDX-License-Identifier: BSL-1.0
|
||||
/*!
|
||||
* @file
|
||||
* @brief Defines and constants related to WMR driver code.
|
||||
* @author nima01 <nima_zero_one@protonmail.com>
|
||||
* @author Jakob Bornecrantz <jakob@collabora.com>
|
||||
* @ingroup drv_wmr
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
|
||||
/*!
|
||||
* Defines for the WMR driver.
|
||||
*
|
||||
* @ingroup drv_wmr
|
||||
* @{
|
||||
*/
|
||||
|
||||
#define MS_HOLOLENS_MANUFACTURER_STRING "Microsoft"
|
||||
#define MS_HOLOLENS_PRODUCT_STRING "HoloLens Sensors"
|
||||
|
||||
#define MICROSOFT_VID 0x045e
|
||||
#define HOLOLENS_SENSORS_PID 0x0659
|
||||
|
||||
#define HP_VID 0x03f0
|
||||
#define REVERB_G1_PID 0x0c6a
|
||||
#define REVERB_G2_PID 0x0580
|
||||
|
||||
/*!
|
||||
* @}
|
||||
*/
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
537
src/xrt/drivers/wmr/wmr_hmd.c
Normal file
537
src/xrt/drivers/wmr/wmr_hmd.c
Normal file
|
|
@ -0,0 +1,537 @@
|
|||
// Copyright 2018, Philipp Zabel.
|
||||
// Copyright 2020-2021, N Madsen.
|
||||
// Copyright 2020-2021, Collabora, Ltd.
|
||||
// SPDX-License-Identifier: BSL-1.0
|
||||
/*!
|
||||
* @file
|
||||
* @brief Driver code for a WMR HMD.
|
||||
* @author Philipp Zabel <philipp.zabel@gmail.com>
|
||||
* @author nima01 <nima_zero_one@protonmail.com>
|
||||
* @author Jakob Bornecrantz <jakob@collabora.com>
|
||||
* @ingroup drv_wmr
|
||||
*/
|
||||
|
||||
#include "xrt/xrt_config_os.h"
|
||||
#include "xrt/xrt_device.h"
|
||||
|
||||
#include "os/os_time.h"
|
||||
#include "os/os_hid.h"
|
||||
|
||||
#include "math/m_mathinclude.h"
|
||||
#include "math/m_api.h"
|
||||
#include "math/m_vec2.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_distortion_mesh.h"
|
||||
|
||||
#include "wmr_hmd.h"
|
||||
#include "wmr_common.h"
|
||||
#include "wmr_protocol.h"
|
||||
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
#include <assert.h>
|
||||
#ifndef XRT_OS_WINDOWS
|
||||
#include <unistd.h> // for sleep()
|
||||
#endif
|
||||
|
||||
|
||||
/*
|
||||
*
|
||||
* Hololens packets.
|
||||
*
|
||||
*/
|
||||
|
||||
static void
|
||||
hololens_unknown_17_decode_packet(struct wmr_hmd *wh, const unsigned char *buffer, int size)
|
||||
{
|
||||
if (size >= 7) {
|
||||
WMR_TRACE(wh, "Got packet 0x17 (%i)\n\t%02x %02x %02x %02x %02x %02x %02x ", size, buffer[0], buffer[1],
|
||||
buffer[2], buffer[3], buffer[4], buffer[5], buffer[6]);
|
||||
} else {
|
||||
WMR_TRACE(wh, "Got packet 0x17 (%i)", size);
|
||||
}
|
||||
}
|
||||
|
||||
static void
|
||||
hololens_unknown_05_06_0E_decode_packet(struct wmr_hmd *wh, const unsigned char *buffer, int size)
|
||||
{
|
||||
if (size >= 45) {
|
||||
WMR_TRACE(wh,
|
||||
"Got controller (%i)\n\t%02x %02x %02x %02x %02x %02x %02x %02x %02x %02x | %02x %02x %02x "
|
||||
"%02x %02x %02x %02x %02x %02x %02x | %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x",
|
||||
size, buffer[0], buffer[1], buffer[2], buffer[3], buffer[4], buffer[5], buffer[6], buffer[7],
|
||||
buffer[8], buffer[9], buffer[10], buffer[11], buffer[12], buffer[13], buffer[14], buffer[15],
|
||||
buffer[16], buffer[17], buffer[18], buffer[19], buffer[20], buffer[21], buffer[22],
|
||||
buffer[23], buffer[24], buffer[25], buffer[26], buffer[27], buffer[28], buffer[29]);
|
||||
} else {
|
||||
WMR_TRACE(wh, "Got controller packet (%i)\n\t%02x", size, buffer[0]);
|
||||
}
|
||||
}
|
||||
|
||||
static void
|
||||
hololens_sensors_decode_packet(struct wmr_hmd *wh,
|
||||
struct hololens_sensors_packet *pkt,
|
||||
const unsigned char *buffer,
|
||||
int size)
|
||||
{
|
||||
WMR_TRACE(wh, "");
|
||||
|
||||
if (size != 497 && size != 381) {
|
||||
WMR_ERROR(wh, "invalid hololens sensor packet size (expected 381 or 497 but got %d)", size);
|
||||
return;
|
||||
}
|
||||
|
||||
pkt->id = read8(&buffer);
|
||||
for (int i = 0; i < 4; i++) {
|
||||
pkt->temperature[i] = read16(&buffer);
|
||||
}
|
||||
|
||||
for (int i = 0; i < 4; i++) {
|
||||
pkt->gyro_timestamp[i] = read64(&buffer);
|
||||
}
|
||||
|
||||
for (int i = 0; i < 3; i++) {
|
||||
for (int j = 0; j < 32; j++) {
|
||||
pkt->gyro[i][j] = read16(&buffer);
|
||||
}
|
||||
}
|
||||
|
||||
for (int i = 0; i < 4; i++) {
|
||||
pkt->accel_timestamp[i] = read64(&buffer);
|
||||
}
|
||||
|
||||
for (int i = 0; i < 3; i++) {
|
||||
for (int j = 0; j < 4; j++) {
|
||||
pkt->accel[i][j] = read32(&buffer);
|
||||
}
|
||||
}
|
||||
|
||||
for (int i = 0; i < 4; i++) {
|
||||
pkt->video_timestamp[i] = read64(&buffer);
|
||||
}
|
||||
|
||||
return;
|
||||
}
|
||||
|
||||
static bool
|
||||
hololens_sensors_read_packets(struct wmr_hmd *wh)
|
||||
{
|
||||
WMR_TRACE(wh, "");
|
||||
|
||||
unsigned char buffer[WMR_FEATURE_BUFFER_SIZE];
|
||||
|
||||
// Block for 100ms
|
||||
int size = os_hid_read(wh->hid_hololens_senors_dev, buffer, sizeof(buffer), 100);
|
||||
|
||||
if (size < 0) {
|
||||
WMR_ERROR(wh, "Error reading from device");
|
||||
return false;
|
||||
} else if (size == 0) {
|
||||
WMR_TRACE(wh, "No more data to read");
|
||||
return true; // No more messages, return.
|
||||
} else {
|
||||
WMR_TRACE(wh, "Read %u bytes", size);
|
||||
}
|
||||
|
||||
switch (buffer[0]) {
|
||||
case WMR_MS_HOLOLENS_MSG_SENSORS:
|
||||
hololens_sensors_decode_packet(wh, &wh->packet, buffer, size);
|
||||
|
||||
for (int i = 0; i < 4; i++) {
|
||||
vec3_from_hololens_gyro(wh->packet.gyro, i, &wh->raw_gyro);
|
||||
vec3_from_hololens_accel(wh->packet.accel, i, &wh->raw_accel);
|
||||
|
||||
os_mutex_lock(&wh->fusion_mutex);
|
||||
m_imu_3dof_update(&wh->fusion, wh->packet.gyro_timestamp[i] * WMR_MS_HOLOLENS_NS_PER_TICK,
|
||||
&wh->raw_accel, &wh->raw_gyro);
|
||||
os_mutex_unlock(&wh->fusion_mutex);
|
||||
}
|
||||
break;
|
||||
case WMR_MS_HOLOLENS_MSG_UNKNOWN_05:
|
||||
case WMR_MS_HOLOLENS_MSG_UNKNOWN_06:
|
||||
case WMR_MS_HOLOLENS_MSG_UNKNOWN_0E: //
|
||||
hololens_unknown_05_06_0E_decode_packet(wh, buffer, size);
|
||||
break;
|
||||
case WMR_MS_HOLOLENS_MSG_UNKNOWN_17: //
|
||||
hololens_unknown_17_decode_packet(wh, buffer, size);
|
||||
break;
|
||||
case WMR_MS_HOLOLENS_MSG_CONTROL:
|
||||
case WMR_MS_HOLOLENS_MSG_DEBUG: //
|
||||
break;
|
||||
default: //
|
||||
WMR_DEBUG(wh, "Unknown message type: %02x, (%i)", buffer[0], size);
|
||||
break;
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
*
|
||||
* Control packets.
|
||||
*
|
||||
*/
|
||||
|
||||
static void
|
||||
control_ipd_value_decode(struct wmr_hmd *wh, const unsigned char *buffer, int size)
|
||||
{
|
||||
if (size != 4) {
|
||||
WMR_ERROR(wh, "Invalid control ipd distance packet size (expected 4 but got %i)", size);
|
||||
return;
|
||||
}
|
||||
|
||||
uint8_t id = read8(&buffer);
|
||||
uint8_t unknown = read8(&buffer);
|
||||
uint16_t value = read16(&buffer);
|
||||
|
||||
(void)id;
|
||||
(void)unknown;
|
||||
|
||||
wh->raw_ipd = value;
|
||||
|
||||
WMR_DEBUG(wh, "Got IPD value: %04x", value);
|
||||
}
|
||||
|
||||
static bool
|
||||
control_read_packets(struct wmr_hmd *wh)
|
||||
{
|
||||
unsigned char buffer[WMR_FEATURE_BUFFER_SIZE];
|
||||
|
||||
// Do not block
|
||||
int size = os_hid_read(wh->hid_control_dev, buffer, sizeof(buffer), 0);
|
||||
|
||||
if (size < 0) {
|
||||
WMR_ERROR(wh, "Error reading from device");
|
||||
return false;
|
||||
} else if (size == 0) {
|
||||
WMR_TRACE(wh, "No more data to read");
|
||||
return true; // No more messages, return.
|
||||
} else {
|
||||
WMR_TRACE(wh, "Read %u bytes", size);
|
||||
}
|
||||
|
||||
switch (buffer[0]) {
|
||||
case WMR_CONTROL_MSG_IPD_VALUE: //
|
||||
control_ipd_value_decode(wh, buffer, size);
|
||||
break;
|
||||
case WMR_CONTROL_MSG_UNKNOWN_05: //
|
||||
break;
|
||||
default: //
|
||||
WMR_DEBUG(wh, "Unknown message type: %02x, (%i)", buffer[0], size);
|
||||
break;
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
*
|
||||
* Helpers and internal functions.
|
||||
*
|
||||
*/
|
||||
|
||||
static void *
|
||||
wmr_run_thread(void *ptr)
|
||||
{
|
||||
struct wmr_hmd *wh = (struct wmr_hmd *)ptr;
|
||||
|
||||
os_thread_helper_lock(&wh->oth);
|
||||
while (os_thread_helper_is_running_locked(&wh->oth)) {
|
||||
os_thread_helper_unlock(&wh->oth);
|
||||
|
||||
// Does not block.
|
||||
if (!control_read_packets(wh)) {
|
||||
break;
|
||||
}
|
||||
|
||||
// Does block for a bit.
|
||||
if (!hololens_sensors_read_packets(wh)) {
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
WMR_DEBUG(wh, "Exiting reading thread.");
|
||||
|
||||
return NULL;
|
||||
}
|
||||
|
||||
static void
|
||||
hololens_sensors_enable_imu(struct wmr_hmd *wh)
|
||||
{
|
||||
int size = os_hid_write(wh->hid_hololens_senors_dev, hololens_sensors_imu_on, sizeof(hololens_sensors_imu_on));
|
||||
if (size <= 0) {
|
||||
WMR_ERROR(wh, "Error writing to device");
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
#define HID_SEND(HID, DATA, STR) \
|
||||
do { \
|
||||
int _ret = os_hid_set_feature(HID, DATA, sizeof(DATA)); \
|
||||
if (_ret < 0) { \
|
||||
WMR_ERROR(wh, "Send (%s): %i", STR, _ret); \
|
||||
} \
|
||||
} while (false);
|
||||
|
||||
#define HID_GET(HID, DATA, STR) \
|
||||
do { \
|
||||
int _ret = os_hid_get_feature(HID, DATA[0], DATA, sizeof(DATA)); \
|
||||
if (_ret < 0) { \
|
||||
WMR_ERROR(wh, "Get (%s): %i", STR, _ret); \
|
||||
} \
|
||||
} while (false);
|
||||
|
||||
static int
|
||||
wmr_hmd_activate(struct wmr_hmd *wh)
|
||||
{
|
||||
struct os_hid_device *hid = wh->hid_control_dev;
|
||||
|
||||
WMR_TRACE(wh, "Activating HP Reverb G1/G2 HMD...");
|
||||
|
||||
|
||||
// Hack to power up the Reverb G1 display, thanks to OpenHMD contibutors.
|
||||
// Sleep before we start seems to improve reliability.
|
||||
// 300ms is what Windows seems to do, so cargo cult that.
|
||||
os_nanosleep(U_TIME_1MS_IN_NS * 300);
|
||||
|
||||
for (int i = 0; i < 4; i++) {
|
||||
unsigned char cmd[64] = {0x50, 0x01};
|
||||
HID_SEND(hid, cmd, "loop");
|
||||
|
||||
unsigned char data[64] = {0x50};
|
||||
HID_GET(hid, data, "loop");
|
||||
|
||||
os_nanosleep(U_TIME_1MS_IN_NS * 10); // Sleep 10ms
|
||||
}
|
||||
|
||||
unsigned char data[64] = {0x09};
|
||||
HID_GET(hid, data, "data_1");
|
||||
|
||||
data[0] = 0x08;
|
||||
HID_GET(hid, data, "data_2");
|
||||
|
||||
data[0] = 0x06;
|
||||
HID_GET(hid, data, "data_3");
|
||||
|
||||
// Wake up the display.
|
||||
unsigned char cmd[2] = {0x04, 0x01};
|
||||
HID_SEND(hid, cmd, "screen_on");
|
||||
|
||||
WMR_INFO(wh, "Sent activation report, sleeping for compositor.");
|
||||
|
||||
/*
|
||||
* Sleep so display completes power up and modes be enumerated.
|
||||
* Two seconds seems to be needed, 1 was not enough.
|
||||
*/
|
||||
os_nanosleep(U_TIME_1MS_IN_NS * 2000);
|
||||
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
static void
|
||||
wmr_hmd_deactivate(struct wmr_hmd *wh)
|
||||
{
|
||||
struct os_hid_device *hid = wh->hid_control_dev;
|
||||
|
||||
/* Turn the screen off */
|
||||
unsigned char cmd[2] = {0x04, 0x00};
|
||||
HID_SEND(hid, cmd, "screen_off");
|
||||
}
|
||||
|
||||
static void
|
||||
wmr_hmd_update_inputs(struct xrt_device *xdev)
|
||||
{
|
||||
struct wmr_hmd *wh = wmr_hmd(xdev);
|
||||
(void)wh;
|
||||
}
|
||||
|
||||
static void
|
||||
wmr_hmd_get_tracked_pose(struct xrt_device *xdev,
|
||||
enum xrt_input_name name,
|
||||
uint64_t at_timestamp_ns,
|
||||
struct xrt_space_relation *out_relation)
|
||||
{
|
||||
struct wmr_hmd *wh = wmr_hmd(xdev);
|
||||
|
||||
if (name != XRT_INPUT_GENERIC_HEAD_POSE) {
|
||||
WMR_ERROR(wh, "Unknown input name");
|
||||
return;
|
||||
}
|
||||
|
||||
// Clear relation.
|
||||
U_ZERO(out_relation);
|
||||
|
||||
os_mutex_lock(&wh->fusion_mutex);
|
||||
out_relation->pose.orientation = wh->fusion.rot;
|
||||
os_mutex_unlock(&wh->fusion_mutex);
|
||||
|
||||
out_relation->relation_flags = (enum xrt_space_relation_flags)( //
|
||||
XRT_SPACE_RELATION_ORIENTATION_VALID_BIT | //
|
||||
XRT_SPACE_RELATION_ORIENTATION_TRACKED_BIT);
|
||||
}
|
||||
|
||||
static void
|
||||
wmr_hmd_get_view_pose(struct xrt_device *xdev,
|
||||
struct xrt_vec3 *eye_relation,
|
||||
uint32_t view_index,
|
||||
struct xrt_pose *out_pose)
|
||||
{
|
||||
struct xrt_pose pose = {{0.0f, 0.0f, 0.0f, 1.0f}, {0.0f, 0.0f, 0.0f}};
|
||||
bool adjust = (view_index == 0);
|
||||
|
||||
pose.position.x = eye_relation->x / 2.0f;
|
||||
pose.position.y = eye_relation->y / 2.0f;
|
||||
pose.position.z = eye_relation->z / 2.0f;
|
||||
|
||||
// Adjust for left/right while also making sure there aren't any -0.f.
|
||||
if (pose.position.x > 0.0f && adjust) {
|
||||
pose.position.x = -pose.position.x;
|
||||
}
|
||||
if (pose.position.y > 0.0f && adjust) {
|
||||
pose.position.y = -pose.position.y;
|
||||
}
|
||||
if (pose.position.z > 0.0f && adjust) {
|
||||
pose.position.z = -pose.position.z;
|
||||
}
|
||||
|
||||
*out_pose = pose;
|
||||
}
|
||||
|
||||
static void
|
||||
wmr_hmd_destroy(struct xrt_device *xdev)
|
||||
{
|
||||
struct wmr_hmd *wh = wmr_hmd(xdev);
|
||||
|
||||
// Destroy the thread object.
|
||||
os_thread_helper_destroy(&wh->oth);
|
||||
|
||||
if (wh->hid_hololens_senors_dev != NULL) {
|
||||
os_hid_destroy(wh->hid_hololens_senors_dev);
|
||||
wh->hid_hololens_senors_dev = NULL;
|
||||
}
|
||||
|
||||
if (wh->hid_control_dev != NULL) {
|
||||
wmr_hmd_deactivate(wh);
|
||||
os_hid_destroy(wh->hid_control_dev);
|
||||
wh->hid_control_dev = NULL;
|
||||
}
|
||||
|
||||
// Destroy the fusion.
|
||||
m_imu_3dof_close(&wh->fusion);
|
||||
|
||||
os_mutex_destroy(&wh->fusion_mutex);
|
||||
|
||||
free(wh);
|
||||
}
|
||||
|
||||
struct xrt_device *
|
||||
wmr_hmd_create(struct os_hid_device *hid_holo, struct os_hid_device *hid_ctrl, enum u_logging_level ll)
|
||||
{
|
||||
enum u_device_alloc_flags flags =
|
||||
(enum u_device_alloc_flags)(U_DEVICE_ALLOC_HMD | U_DEVICE_ALLOC_TRACKING_NONE);
|
||||
int ret = 0;
|
||||
|
||||
struct wmr_hmd *wh = U_DEVICE_ALLOCATE(struct wmr_hmd, flags, 1, 0);
|
||||
if (!wh) {
|
||||
return NULL;
|
||||
}
|
||||
|
||||
// Populate the base members.
|
||||
wh->base.update_inputs = wmr_hmd_update_inputs;
|
||||
wh->base.get_tracked_pose = wmr_hmd_get_tracked_pose;
|
||||
wh->base.get_view_pose = wmr_hmd_get_view_pose;
|
||||
wh->base.destroy = wmr_hmd_destroy;
|
||||
wh->base.name = XRT_DEVICE_GENERIC_HMD;
|
||||
wh->base.device_type = XRT_DEVICE_TYPE_HMD;
|
||||
wh->log_level = ll;
|
||||
|
||||
wh->base.orientation_tracking_supported = true;
|
||||
wh->base.position_tracking_supported = false;
|
||||
wh->base.hand_tracking_supported = false;
|
||||
wh->hid_hololens_senors_dev = hid_holo;
|
||||
wh->hid_control_dev = hid_ctrl;
|
||||
|
||||
snprintf(wh->base.str, XRT_DEVICE_NAME_LEN, "HP Reverb VR Headset");
|
||||
|
||||
// Mutex before thread.
|
||||
ret = os_mutex_init(&wh->fusion_mutex);
|
||||
if (ret != 0) {
|
||||
WMR_ERROR(wh, "Failed to init mutex!");
|
||||
wmr_hmd_destroy(&wh->base);
|
||||
wh = NULL;
|
||||
return NULL;
|
||||
}
|
||||
|
||||
// Thread and other state.
|
||||
ret = os_thread_helper_init(&wh->oth);
|
||||
if (ret != 0) {
|
||||
WMR_ERROR(wh, "Failed to init threading!");
|
||||
wmr_hmd_destroy(&wh->base);
|
||||
wh = NULL;
|
||||
return NULL;
|
||||
}
|
||||
|
||||
if (wmr_hmd_activate(wh) != 0) {
|
||||
WMR_ERROR(wh, "Activation of HMD failed");
|
||||
wmr_hmd_destroy(&wh->base);
|
||||
wh = NULL;
|
||||
return NULL;
|
||||
}
|
||||
|
||||
// Switch on IMU on the HMD.
|
||||
hololens_sensors_enable_imu(wh);
|
||||
|
||||
|
||||
// Hand over hololens sensor device to reading thread.
|
||||
ret = os_thread_helper_start(&wh->oth, wmr_run_thread, wh);
|
||||
if (ret != 0) {
|
||||
WMR_ERROR(wh, "Failed to start thread!");
|
||||
wmr_hmd_destroy(&wh->base);
|
||||
wh = NULL;
|
||||
return NULL;
|
||||
}
|
||||
|
||||
// Setup input.
|
||||
wh->base.inputs[0].name = XRT_INPUT_GENERIC_HEAD_POSE;
|
||||
|
||||
// TODO: Read config file from HMD, provide guestimate values for now.
|
||||
struct u_device_simple_info info;
|
||||
info.display.w_pixels = 4320;
|
||||
info.display.h_pixels = 2160;
|
||||
info.display.w_meters = 0.13f;
|
||||
info.display.h_meters = 0.07f;
|
||||
info.lens_horizontal_separation_meters = 0.13f / 2.0f;
|
||||
info.lens_vertical_position_meters = 0.07f / 2.0f;
|
||||
info.views[0].fov = 85.0f * (M_PI / 180.0f);
|
||||
info.views[1].fov = 85.0f * (M_PI / 180.0f);
|
||||
|
||||
if (!u_device_setup_split_side_by_side(&wh->base, &info)) {
|
||||
WMR_ERROR(wh, "Failed to setup basic HMD device info");
|
||||
wmr_hmd_destroy(&wh->base);
|
||||
wh = NULL;
|
||||
return NULL;
|
||||
}
|
||||
|
||||
m_imu_3dof_init(&wh->fusion, M_IMU_3DOF_USE_GRAVITY_DUR_20MS);
|
||||
|
||||
// Setup variable tracker.
|
||||
u_var_add_root(wh, "WMR HMD", true);
|
||||
u_var_add_gui_header(wh, &wh->gui.fusion, "3DoF Fusion");
|
||||
m_imu_3dof_add_vars(&wh->fusion, wh, "");
|
||||
u_var_add_gui_header(wh, &wh->gui.misc, "Misc");
|
||||
u_var_add_log_level(wh, &wh->log_level, "log_level");
|
||||
|
||||
// Distortion information, fills in xdev->compute_distortion().
|
||||
u_distortion_mesh_set_none(&wh->base);
|
||||
|
||||
return &wh->base;
|
||||
}
|
||||
104
src/xrt/drivers/wmr/wmr_hmd.h
Normal file
104
src/xrt/drivers/wmr/wmr_hmd.h
Normal file
|
|
@ -0,0 +1,104 @@
|
|||
// Copyright 2018, Philipp Zabel.
|
||||
// Copyright 2020-2021, N Madsen.
|
||||
// Copyright 2020-2021, Collabora, Ltd.
|
||||
// SPDX-License-Identifier: BSL-1.0
|
||||
/*!
|
||||
* @file
|
||||
* @brief Interface to the WMR HMD driver code.
|
||||
* @author Philipp Zabel <philipp.zabel@gmail.com>
|
||||
* @author nima01 <nima_zero_one@protonmail.com>
|
||||
* @author Jakob Bornecrantz <jakob@collabora.com>
|
||||
* @ingroup drv_wmr
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "xrt/xrt_device.h"
|
||||
#include "xrt/xrt_prober.h"
|
||||
#include "os/os_threading.h"
|
||||
#include "math/m_imu_3dof.h"
|
||||
#include "util/u_logging.h"
|
||||
|
||||
#include "wmr_protocol.h"
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
|
||||
enum rvb_g1_status_bits
|
||||
{
|
||||
// clang-format off
|
||||
REVERB_G1_STATUS_BIT_UNKNOWN_BIT_0 = (1 << 0),
|
||||
REVERB_G1_STATUS_BIT_UNKNOWN_BIT_1 = (1 << 1),
|
||||
REVERB_G1_STATUS_BIT_UNKNOWN_BIT_2 = (1 << 2),
|
||||
REVERB_G1_STATUS_BIT_UNKNOWN_BIT_3 = (1 << 3),
|
||||
REVERB_G1_STATUS_BIT_UNKNOWN_BIT_4 = (1 << 4),
|
||||
REVERB_G1_STATUS_BIT_UNKNOWN_BIT_5 = (1 << 5),
|
||||
REVERB_G1_STATUS_BIT_UNKNOWN_BIT_6 = (1 << 6),
|
||||
REVERB_G1_STATUS_BIT_UNKNOWN_BIT_7 = (1 << 7),
|
||||
// clang-format on
|
||||
};
|
||||
|
||||
/*!
|
||||
* @implements xrt_device
|
||||
*/
|
||||
struct wmr_hmd
|
||||
{
|
||||
struct xrt_device base;
|
||||
|
||||
//! Packet reading thread.
|
||||
struct os_thread_helper oth;
|
||||
|
||||
enum u_logging_level log_level;
|
||||
|
||||
/*!
|
||||
* This is the hololens sensor device, this is were we get all of the
|
||||
* IMU data and read the config from.
|
||||
*
|
||||
* During start it is owned by the thread creating the device, after
|
||||
* init it is owned by the reading thread, there is no mutex protecting
|
||||
* this field as it's only used by the reading thread in @p oth.
|
||||
*/
|
||||
struct os_hid_device *hid_hololens_senors_dev;
|
||||
struct os_hid_device *hid_control_dev;
|
||||
|
||||
//! Latest raw IPD value from the device.
|
||||
uint16_t raw_ipd;
|
||||
|
||||
struct hololens_sensors_packet packet;
|
||||
|
||||
struct xrt_vec3 raw_accel;
|
||||
struct xrt_vec3 raw_gyro;
|
||||
|
||||
struct os_mutex fusion_mutex;
|
||||
//! Protected by @ref fusion_mutex.
|
||||
struct m_imu_3dof fusion;
|
||||
|
||||
struct
|
||||
{
|
||||
bool fusion;
|
||||
bool misc;
|
||||
} gui;
|
||||
};
|
||||
|
||||
static inline struct wmr_hmd *
|
||||
wmr_hmd(struct xrt_device *p)
|
||||
{
|
||||
return (struct wmr_hmd *)p;
|
||||
}
|
||||
|
||||
struct xrt_device *
|
||||
wmr_hmd_create(struct os_hid_device *hid_holo, struct os_hid_device *hid_ctrl, enum u_logging_level ll);
|
||||
|
||||
#define WMR_TRACE(d, ...) U_LOG_XDEV_IFL_T(&d->base, d->log_level, __VA_ARGS__)
|
||||
#define WMR_DEBUG(d, ...) U_LOG_XDEV_IFL_D(&d->base, d->log_level, __VA_ARGS__)
|
||||
#define WMR_INFO(d, ...) U_LOG_XDEV_IFL_I(&d->base, d->log_level, __VA_ARGS__)
|
||||
#define WMR_WARN(d, ...) U_LOG_XDEV_IFL_W(&d->base, d->log_level, __VA_ARGS__)
|
||||
#define WMR_ERROR(d, ...) U_LOG_XDEV_IFL_E(&d->base, d->log_level, __VA_ARGS__)
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
48
src/xrt/drivers/wmr/wmr_interface.h
Normal file
48
src/xrt/drivers/wmr/wmr_interface.h
Normal file
|
|
@ -0,0 +1,48 @@
|
|||
// Copyright 2020-2021, N Madsen.
|
||||
// Copyright 2020-2021, Collabora, Ltd.
|
||||
// SPDX-License-Identifier: BSL-1.0
|
||||
/*!
|
||||
* @file
|
||||
* @brief Interface to the WMR driver.
|
||||
* @author nima01 <nima_zero_one@protonmail.com>
|
||||
* @author Jakob Bornecrantz <jakob@collabora.com>
|
||||
* @ingroup drv_wmr
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/*!
|
||||
* @defgroup drv_wmr
|
||||
* @ingroup drv
|
||||
*
|
||||
* @brief Windows Mixed Reality driver.
|
||||
*/
|
||||
|
||||
/*!
|
||||
* Probing function for Windows Mixed Reality devices.
|
||||
*
|
||||
* @ingroup drv_wmr
|
||||
*/
|
||||
int
|
||||
wmr_found(struct xrt_prober *xp,
|
||||
struct xrt_prober_device **devices,
|
||||
size_t num_devices,
|
||||
size_t index,
|
||||
cJSON *attached_data,
|
||||
struct xrt_device **out_xdev);
|
||||
|
||||
/*!
|
||||
* @dir drivers/wmr
|
||||
*
|
||||
* @brief @ref drv_wmr files.
|
||||
*/
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
160
src/xrt/drivers/wmr/wmr_prober.c
Normal file
160
src/xrt/drivers/wmr/wmr_prober.c
Normal file
|
|
@ -0,0 +1,160 @@
|
|||
// Copyright 2020-2021, N Madsen.
|
||||
// Copyright 2020-2021, Collabora, Ltd.
|
||||
// SPDX-License-Identifier: BSL-1.0
|
||||
/*!
|
||||
* @file
|
||||
* @brief WMR prober code.
|
||||
* @author nima01 <nima_zero_one@protonmail.com>
|
||||
* @author Jakob Bornecrantz <jakob@collabora.com>
|
||||
* @ingroup drv_wmr
|
||||
*/
|
||||
|
||||
#include "xrt/xrt_prober.h"
|
||||
|
||||
#include "util/u_misc.h"
|
||||
#include "util/u_debug.h"
|
||||
#include "util/u_logging.h"
|
||||
|
||||
#include "wmr_interface.h"
|
||||
#include "wmr_hmd.h"
|
||||
#include "wmr_common.h"
|
||||
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <wchar.h>
|
||||
|
||||
|
||||
/*
|
||||
*
|
||||
* Defines & structs.
|
||||
*
|
||||
*/
|
||||
|
||||
DEBUG_GET_ONCE_LOG_OPTION(wmr_log, "WMR_LOG", U_LOGGING_INFO)
|
||||
|
||||
|
||||
/*
|
||||
*
|
||||
* Functions.
|
||||
*
|
||||
*/
|
||||
|
||||
static bool
|
||||
check_and_get_interface_hp(struct xrt_prober_device *device, int *out_interface)
|
||||
{
|
||||
if (device->product_id != REVERB_G1_PID && device->product_id != REVERB_G2_PID) {
|
||||
return false;
|
||||
}
|
||||
|
||||
*out_interface = 0;
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
static bool
|
||||
find_control_device(struct xrt_prober *xp,
|
||||
struct xrt_prober_device **devices,
|
||||
size_t num_devices,
|
||||
enum u_logging_level ll,
|
||||
struct xrt_prober_device **out_device,
|
||||
int *out_interface)
|
||||
{
|
||||
struct xrt_prober_device *dev = NULL;
|
||||
int interface = 0;
|
||||
|
||||
for (size_t i = 0; i < num_devices; i++) {
|
||||
bool match = false;
|
||||
|
||||
if (devices[i]->bus != XRT_BUS_TYPE_USB) {
|
||||
continue;
|
||||
}
|
||||
|
||||
switch (devices[i]->vendor_id) {
|
||||
case HP_VID: match = check_and_get_interface_hp(devices[i], &interface); break;
|
||||
default: break;
|
||||
}
|
||||
|
||||
if (!match) {
|
||||
continue;
|
||||
}
|
||||
|
||||
if (dev != NULL) {
|
||||
U_LOG_IFL_W(ll, "Found multiple control devices, using the last.");
|
||||
}
|
||||
dev = devices[i];
|
||||
}
|
||||
|
||||
unsigned char m_str[256] = {0};
|
||||
unsigned char p_str[256] = {0};
|
||||
xrt_prober_get_string_descriptor(xp, dev, XRT_PROBER_STRING_MANUFACTURER, m_str, sizeof(m_str));
|
||||
xrt_prober_get_string_descriptor(xp, dev, XRT_PROBER_STRING_PRODUCT, p_str, sizeof(p_str));
|
||||
|
||||
U_LOG_IFL_D(ll, "Found control device '%s' '%s' (%04X:%04X)", p_str, m_str, dev->vendor_id, dev->product_id);
|
||||
|
||||
*out_device = dev;
|
||||
*out_interface = interface;
|
||||
|
||||
return dev != NULL;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
*
|
||||
* Exported functions.
|
||||
*
|
||||
*/
|
||||
|
||||
int
|
||||
wmr_found(struct xrt_prober *xp,
|
||||
struct xrt_prober_device **devices,
|
||||
size_t num_devices,
|
||||
size_t index,
|
||||
cJSON *attached_data,
|
||||
struct xrt_device **out_xdev)
|
||||
{
|
||||
enum u_logging_level ll = debug_get_log_option_wmr_log();
|
||||
|
||||
struct xrt_prober_device *dev_holo = devices[index];
|
||||
struct xrt_prober_device *dev_ctrl = NULL;
|
||||
int interface_holo = 2;
|
||||
int interface_ctrl = 0;
|
||||
|
||||
unsigned char buf[256] = {0};
|
||||
int result = xrt_prober_get_string_descriptor(xp, dev_holo, XRT_PROBER_STRING_PRODUCT, buf, sizeof(buf));
|
||||
|
||||
if (!xrt_prober_match_string(xp, dev_holo, XRT_PROBER_STRING_MANUFACTURER, MS_HOLOLENS_MANUFACTURER_STRING) ||
|
||||
!xrt_prober_match_string(xp, dev_holo, XRT_PROBER_STRING_PRODUCT, MS_HOLOLENS_PRODUCT_STRING)) {
|
||||
U_LOG_IFL_E(ll, "HoloLens Sensors manufacturer or product strings did not match.");
|
||||
return -1;
|
||||
}
|
||||
|
||||
if (!find_control_device(xp, devices, num_devices, ll, &dev_ctrl, &interface_ctrl)) {
|
||||
U_LOG_IFL_E(ll,
|
||||
"Did not find companion control device."
|
||||
"\n\tCurrently only Reverb G1 and G2 is supported");
|
||||
return -1;
|
||||
}
|
||||
|
||||
struct os_hid_device *hid_holo = NULL;
|
||||
result = xrt_prober_open_hid_interface(xp, dev_holo, interface_holo, &hid_holo);
|
||||
if (result != 0) {
|
||||
U_LOG_IFL_E(ll, "Failed to open HoloLens Sensors HID interface");
|
||||
return -1;
|
||||
}
|
||||
|
||||
struct os_hid_device *hid_ctrl = NULL;
|
||||
result = xrt_prober_open_hid_interface(xp, dev_ctrl, interface_ctrl, &hid_ctrl);
|
||||
if (result != 0) {
|
||||
U_LOG_IFL_E(ll, "Failed to open HoloLens Sensors HID interface");
|
||||
return -1;
|
||||
}
|
||||
|
||||
struct xrt_device *p = wmr_hmd_create(hid_holo, hid_ctrl, ll);
|
||||
if (!p) {
|
||||
U_LOG_IFL_E(ll, "Failed to create Windows Mixed Reality device");
|
||||
return -1;
|
||||
}
|
||||
|
||||
*out_xdev = p;
|
||||
return 1;
|
||||
}
|
||||
60
src/xrt/drivers/wmr/wmr_protocol.c
Normal file
60
src/xrt/drivers/wmr/wmr_protocol.c
Normal file
|
|
@ -0,0 +1,60 @@
|
|||
// Copyright 2018, Philipp Zabel.
|
||||
// Copyright 2020-2021, N Madsen.
|
||||
// Copyright 2020-2021, Collabora, Ltd.
|
||||
// SPDX-License-Identifier: BSL-1.0
|
||||
/*!
|
||||
* @file
|
||||
* @brief WMR and MS HoloLens protocol helpers implementation.
|
||||
* @author Philipp Zabel <philipp.zabel@gmail.com>
|
||||
* @author nima01 <nima_zero_one@protonmail.com>
|
||||
* @ingroup drv_wmr
|
||||
*/
|
||||
|
||||
#include "wmr_protocol.h"
|
||||
|
||||
|
||||
/*
|
||||
*
|
||||
* WMR and MS HoloLens Sensors protocol helpers
|
||||
*
|
||||
*/
|
||||
|
||||
void
|
||||
vec3_from_hololens_accel(int32_t sample[3][4], int i, struct xrt_vec3 *out_vec)
|
||||
{
|
||||
out_vec->x = (float)sample[0][i] * 0.001f * -1.0f;
|
||||
out_vec->y = (float)sample[1][i] * 0.001f * -1.0f;
|
||||
out_vec->z = (float)sample[2][i] * 0.001f * -1.0f;
|
||||
}
|
||||
|
||||
void
|
||||
vec3_from_hololens_gyro(int16_t sample[3][32], int i, struct xrt_vec3 *out_vec)
|
||||
{
|
||||
out_vec->x = (float)(sample[0][8 * i + 0] + //
|
||||
sample[0][8 * i + 1] + //
|
||||
sample[0][8 * i + 2] + //
|
||||
sample[0][8 * i + 3] + //
|
||||
sample[0][8 * i + 4] + //
|
||||
sample[0][8 * i + 5] + //
|
||||
sample[0][8 * i + 6] + //
|
||||
sample[0][8 * i + 7]) *
|
||||
0.001f * 0.125f;
|
||||
out_vec->y = (float)(sample[1][8 * i + 0] + //
|
||||
sample[1][8 * i + 1] + //
|
||||
sample[1][8 * i + 2] + //
|
||||
sample[1][8 * i + 3] + //
|
||||
sample[1][8 * i + 4] + //
|
||||
sample[1][8 * i + 5] + //
|
||||
sample[1][8 * i + 6] + //
|
||||
sample[1][8 * i + 7]) *
|
||||
0.001f * -0.125f;
|
||||
out_vec->z = (float)(sample[2][8 * i + 0] + //
|
||||
sample[2][8 * i + 1] + //
|
||||
sample[2][8 * i + 2] + //
|
||||
sample[2][8 * i + 3] + //
|
||||
sample[2][8 * i + 4] + //
|
||||
sample[2][8 * i + 5] + //
|
||||
sample[2][8 * i + 6] + //
|
||||
sample[2][8 * i + 7]) *
|
||||
0.001f * -0.125f;
|
||||
}
|
||||
126
src/xrt/drivers/wmr/wmr_protocol.h
Normal file
126
src/xrt/drivers/wmr/wmr_protocol.h
Normal file
|
|
@ -0,0 +1,126 @@
|
|||
// Copyright 2018, Philipp Zabel.
|
||||
// Copyright 2020-2021, N Madsen.
|
||||
// Copyright 2020-2021, Collabora, Ltd.
|
||||
// SPDX-License-Identifier: BSL-1.0
|
||||
/*!
|
||||
* @file
|
||||
* @brief WMR and MS HoloLens protocol constants, structures and helpers header
|
||||
* @author Philipp Zabel <philipp.zabel@gmail.com>
|
||||
* @author nima01 <nima_zero_one@protonmail.com>
|
||||
* @ingroup drv_wmr
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "math/m_vec2.h"
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
|
||||
/*!
|
||||
* WMR and MS HoloLens Sensors protocol constants and structures
|
||||
*
|
||||
* @ingroup drv_wmr
|
||||
* @{
|
||||
*/
|
||||
|
||||
#define WMR_FEATURE_BUFFER_SIZE 497
|
||||
#define WMR_MS_HOLOLENS_NS_PER_TICK 100
|
||||
|
||||
#define WMR_MS_HOLOLENS_MSG_SENSORS 0x01
|
||||
#define WMR_MS_HOLOLENS_MSG_CONTROL 0x02
|
||||
#define WMR_MS_HOLOLENS_MSG_DEBUG 0x03
|
||||
#define WMR_MS_HOLOLENS_MSG_UNKNOWN_05 0x05
|
||||
#define WMR_MS_HOLOLENS_MSG_UNKNOWN_06 0x06
|
||||
#define WMR_MS_HOLOLENS_MSG_UNKNOWN_0E 0x0E
|
||||
#define WMR_MS_HOLOLENS_MSG_UNKNOWN_17 0x17
|
||||
|
||||
#define WMR_CONTROL_MSG_IPD_VALUE 0x01
|
||||
#define WMR_CONTROL_MSG_UNKNOWN_05 0x05
|
||||
|
||||
static const unsigned char hololens_sensors_imu_on[64] = {0x02, 0x07};
|
||||
|
||||
struct hololens_sensors_packet
|
||||
{
|
||||
uint8_t id;
|
||||
uint16_t temperature[4];
|
||||
uint64_t gyro_timestamp[4];
|
||||
int16_t gyro[3][32];
|
||||
uint64_t accel_timestamp[4];
|
||||
int32_t accel[3][4];
|
||||
uint64_t video_timestamp[4];
|
||||
};
|
||||
|
||||
/*!
|
||||
* @}
|
||||
*/
|
||||
|
||||
|
||||
/*!
|
||||
* WMR and MS HoloLens Sensors protocol helpers
|
||||
*
|
||||
* @ingroup drv_wmr
|
||||
* @{
|
||||
*/
|
||||
|
||||
void
|
||||
vec3_from_hololens_accel(int32_t sample[3][4], int i, struct xrt_vec3 *out_vec);
|
||||
|
||||
void
|
||||
vec3_from_hololens_gyro(int16_t sample[3][32], int i, struct xrt_vec3 *out_vec);
|
||||
|
||||
|
||||
static inline uint8_t
|
||||
read8(const unsigned char **buffer)
|
||||
{
|
||||
uint8_t ret = **buffer;
|
||||
*buffer += 1;
|
||||
return ret;
|
||||
}
|
||||
|
||||
static inline int16_t
|
||||
read16(const unsigned char **buffer)
|
||||
{
|
||||
int16_t ret = (*(*buffer + 0) << 0) | //
|
||||
(*(*buffer + 1) << 8);
|
||||
*buffer += 2;
|
||||
return ret;
|
||||
}
|
||||
|
||||
static inline int32_t
|
||||
read32(const unsigned char **buffer)
|
||||
{
|
||||
int32_t ret = (*(*buffer + 0) << 0) | //
|
||||
(*(*buffer + 1) << 8) | //
|
||||
(*(*buffer + 2) << 16) | //
|
||||
(*(*buffer + 3) << 24);
|
||||
*buffer += 4;
|
||||
return ret;
|
||||
}
|
||||
|
||||
static inline uint64_t
|
||||
read64(const unsigned char **buffer)
|
||||
{
|
||||
uint64_t ret = ((uint64_t) * (*buffer + 0) << 0) | //
|
||||
((uint64_t) * (*buffer + 1) << 8) | //
|
||||
((uint64_t) * (*buffer + 2) << 16) | //
|
||||
((uint64_t) * (*buffer + 3) << 24) | //
|
||||
((uint64_t) * (*buffer + 4) << 32) | //
|
||||
((uint64_t) * (*buffer + 5) << 40) | //
|
||||
((uint64_t) * (*buffer + 6) << 48) | //
|
||||
((uint64_t) * (*buffer + 7) << 56);
|
||||
*buffer += 8;
|
||||
return ret;
|
||||
}
|
||||
|
||||
/*!
|
||||
* @}
|
||||
*/
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
|
@ -102,6 +102,11 @@ if(XRT_BUILD_DRIVER_QWERTY)
|
|||
target_link_libraries(target_lists PRIVATE drv_qwerty)
|
||||
endif()
|
||||
|
||||
if(XRT_BUILD_DRIVER_WMR)
|
||||
target_link_libraries(target_lists PRIVATE drv_wmr)
|
||||
endif()
|
||||
|
||||
|
||||
####
|
||||
# Instance
|
||||
#
|
||||
|
|
|
|||
|
|
@ -78,6 +78,12 @@
|
|||
#include "qwerty/qwerty_interface.h"
|
||||
#endif
|
||||
|
||||
#ifdef XRT_BUILD_DRIVER_WMR
|
||||
#include "wmr/wmr_interface.h"
|
||||
#include "wmr/wmr_common.h"
|
||||
#endif
|
||||
|
||||
|
||||
/*!
|
||||
* Each entry should be a vendor ID (VID), product ID (PID), a "found" function,
|
||||
* and a string literal name.
|
||||
|
|
@ -121,6 +127,10 @@ struct xrt_prober_entry target_entry_list[] = {
|
|||
{ULV2_VID, ULV2_PID, ulv2_found, "Leap Motion Controller", "ulv2"},
|
||||
#endif
|
||||
|
||||
#ifdef XRT_BUILD_DRIVER_WMR
|
||||
{MICROSOFT_VID, HOLOLENS_SENSORS_PID, wmr_found, "Microsoft HoloLens Sensors", "wmr"},
|
||||
#endif // XRT_BUILD_DRIVER_WMR
|
||||
|
||||
{0x0000, 0x0000, NULL, NULL, NULL}, // Terminate
|
||||
};
|
||||
|
||||
|
|
|
|||
|
|
@ -61,6 +61,10 @@ if 'vive' in drivers
|
|||
driver_libs += [lib_drv_vive]
|
||||
endif
|
||||
|
||||
if 'wmr' in drivers
|
||||
driver_libs += [lib_drv_wmr]
|
||||
endif
|
||||
|
||||
if 'survive' in drivers
|
||||
driver_libs += [lib_drv_survive]
|
||||
endif
|
||||
|
|
|
|||
Loading…
Reference in a new issue