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d/pssense: Use IMU timestamp for fusion and read battery state

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Part-of: <https://gitlab.freedesktop.org/monado/monado/-/merge_requests/2301>
This commit is contained in:
Jarett Millard 2024-06-20 00:41:58 -04:00
parent cbc7124bb2
commit 21d5991fa5
1 changed files with 107 additions and 18 deletions
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113
src/xrt/drivers/pssense/pssense_driver.c
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@ -132,6 +132,13 @@ const uint8_t TRIGGER_FEEDBACK_MODE_CONSTANT = 0x01;
//! A single point of resistance at the beginning of the trigger, right before the click flag is activated
const uint8_t TRIGGER_FEEDBACK_MODE_CATCH = 0x02;
const uint8_t CHARGE_STATE_DISCHARGING = 0x00;
const uint8_t CHARGE_STATE_CHARGING = 0x01;
const uint8_t CHARGE_STATE_FULL = 0x02;
const uint8_t CHARGE_STATE_ABNORMAL_VOLTAGE = 0x0A;
const uint8_t CHARGE_STATE_ABNORMAL_TEMP = 0x0B;
const uint8_t CHARGE_STATE_CHARGING_ERROR = 0x0F;
/**
* 16-bit little-endian int
*/
@ -171,12 +178,18 @@ struct pssense_input_report
struct pssense_i32_le seq_no;
struct pssense_i16_le gyro[3];
struct pssense_i16_le accel[3];
uint8_t unknown3[3];
uint8_t unknown4; // Increments occasionally
uint8_t battery_level; // Range appears to be 0x00-0x0e
uint8_t unknown5[10];
uint8_t charging_state; // 0x00 when unplugged, 0x20 when charging
uint8_t unknown6[29];
struct pssense_i32_le imu_ticks;
uint8_t temperature;
uint8_t unknown3[9];
uint8_t battery_state; // High bits charge level 0x00-0x0a, low bits battery state
uint8_t plug_state; // Flags for USB data and/or power connected
struct pssense_i32_le host_timestamp;
struct pssense_i32_le device_timestamp;
uint8_t unknown4[4];
uint8_t aes_cmac[8];
uint8_t unknown5;
uint8_t crc_failure_count;
uint8_t padding[7];
struct pssense_i32_le crc;
};
static_assert(sizeof(struct pssense_input_report) == INPUT_REPORT_LENGTH, "Incorrect input report struct length");
@ -188,14 +201,18 @@ static_assert(sizeof(struct pssense_input_report) == INPUT_REPORT_LENGTH, "Incor
struct pssense_output_report
{
uint8_t report_id;
uint8_t seq_no; // High bits only; low bits are always 0
uint8_t tag; // Needs to be 0x10. Nobody seems to know why.
uint8_t bt_seq_no; // High bits only; low bits are always 0
uint8_t tag; // Needs to be 0x10 for this report
uint8_t feedback_flags; // Vibrate mode and enable flags to set vibrate and trigger feedback in this report
uint8_t unknown;
uint8_t vibration_amplitude; // Vibration amplitude from 0x00-0xff. Sending 0 turns vibration off.
uint8_t unknown2;
uint8_t trigger_feedback_mode; // Constant or sticky trigger resistance
uint8_t unknown3[66];
uint8_t ffb[10];
struct pssense_i32_le host_timestamp;
uint8_t unknown3[19];
uint8_t counter;
uint8_t haptics[32];
struct pssense_i32_le crc;
};
static_assert(sizeof(struct pssense_output_report) == OUTPUT_REPORT_LENGTH, "Incorrect output report struct length");
@ -244,8 +261,15 @@ struct pssense_input_state
bool thumbstick_touch;
struct xrt_vec2 thumbstick;
uint32_t imu_ticks_last;
uint64_t imu_ticks_total;
struct xrt_vec3_i32 gyro_raw;
struct xrt_vec3_i32 accel_raw;
bool battery_state_valid;
bool battery_charging;
//! 0..1
float battery_charge_percent;
};
/*!
@ -271,7 +295,7 @@ struct pssense_device
//! Input state parsed from most recent packet
struct pssense_input_state state;
//! Last output state sent to device
//! Pending output state to send to device
struct
{
uint8_t next_seq_no;
@ -427,6 +451,12 @@ pssense_parse_packet(struct pssense_device *pssense,
input->thumbstick_click = (data->buttons[1] & 8) != 0;
}
uint32_t imu_ticks = pssense_i32_le_to_u32(&data->imu_ticks);
int64_t imu_ticks_delta = imu_ticks - input->imu_ticks_last;
if (imu_ticks_delta >= 0) {
input->imu_ticks_total += imu_ticks_delta;
input->imu_ticks_last = imu_ticks;
input->gyro_raw.x = pssense_i16_le_to_i16(&data->gyro[0]);
input->gyro_raw.y = pssense_i16_le_to_i16(&data->gyro[1]);
input->gyro_raw.z = pssense_i16_le_to_i16(&data->gyro[2]);
@ -434,6 +464,47 @@ pssense_parse_packet(struct pssense_device *pssense,
input->accel_raw.x = pssense_i16_le_to_i16(&data->accel[0]);
input->accel_raw.y = pssense_i16_le_to_i16(&data->accel[1]);
input->accel_raw.z = pssense_i16_le_to_i16(&data->accel[2]);
} else {
PSSENSE_WARN(pssense, "Time went backwards. Check your play area for black holes.");
}
uint8_t battery_state = data->battery_state >> 4;
// Charge values go from 0..10, so add 5% and cap at 100% so we never show 0% charge
float battery_percent = MIN(1.0f, (data->battery_state & 0xf) * .1f + .05);
bool valid, charging;
if (battery_state == CHARGE_STATE_DISCHARGING) {
valid = true;
charging = false;
} else if (battery_state == CHARGE_STATE_CHARGING) {
valid = true;
charging = true;
} else if (battery_state == CHARGE_STATE_FULL) {
valid = true;
charging = true;
battery_percent = 1.0f;
} else if (battery_state == CHARGE_STATE_ABNORMAL_VOLTAGE) {
valid = false;
PSSENSE_WARN(pssense, "Unable to determine charge state: abnormal voltage");
} else if (battery_state == CHARGE_STATE_ABNORMAL_TEMP) {
valid = false;
PSSENSE_WARN(pssense, "Unable to determine charge state: abnormal temp");
} else if (battery_state == CHARGE_STATE_CHARGING_ERROR) {
valid = false;
PSSENSE_WARN(pssense, "Unable to determine charge state: charging error");
} else {
valid = false;
PSSENSE_WARN(pssense, "Unable to determine charge state: unknown reason");
}
input->battery_state_valid = valid;
if (valid) {
if (charging != input->battery_charging || battery_percent != input->battery_charge_percent) {
PSSENSE_DEBUG(pssense, "Battery at %.f%%, %s", battery_percent * 100,
charging ? "charging" : "discharging");
}
input->battery_charging = charging;
input->battery_charge_percent = battery_percent;
}
return true;
}
@ -453,7 +524,8 @@ pssense_update_fusion(struct pssense_device *pssense)
// TODO: Apply correction from calibration data
m_imu_3dof_update(&pssense->fusion, pssense->state.timestamp_ns, &accel, &gyro);
// Each IMU tick is .33μs
m_imu_3dof_update(&pssense->fusion, pssense->state.imu_ticks_total * 333, &accel, &gyro);
pssense->pose.orientation = pssense->fusion.rot;
}
@ -464,7 +536,7 @@ pssense_send_output_report_locked(struct pssense_device *pssense)
struct pssense_output_report report = {0};
report.report_id = OUTPUT_REPORT_ID;
report.seq_no = pssense->output.next_seq_no << 4;
report.bt_seq_no = pssense->output.next_seq_no << 4;
report.tag = OUTPUT_REPORT_TAG;
if (timestamp_ns >= pssense->output.vibration_end_timestamp_ns) {
@ -713,6 +785,21 @@ pssense_get_tracked_pose(struct xrt_device *xdev,
m_relation_chain_resolve(&xrc, out_relation);
}
static xrt_result_t
pssense_get_battery_status(struct xrt_device *xdev, bool *out_present, bool *out_charging, float *out_charge)
{
struct pssense_device *pssense = (struct pssense_device *)xdev;
if (!pssense->state.battery_state_valid) {
*out_present = false;
return XRT_SUCCESS;
}
*out_present = true;
*out_charging = pssense->state.battery_charging;
*out_charge = pssense->state.battery_charge_percent;
return XRT_SUCCESS;
}
/**
* Retrieving the calibration data report will switch the Sense controller from compat mode into full mode.
*/
@ -802,8 +889,10 @@ pssense_found(struct xrt_prober *xp,
pssense->base.update_inputs = pssense_device_update_inputs;
pssense->base.set_output = pssense_set_output;
pssense->base.get_tracked_pose = pssense_get_tracked_pose;
pssense->base.get_battery_status = pssense_get_battery_status;
pssense->base.destroy = pssense_device_destroy;
pssense->base.orientation_tracking_supported = true;
pssense->base.battery_status_supported = true;
pssense->base.binding_profiles = binding_profiles_pssense;
pssense->base.binding_profile_count = ARRAY_SIZE(binding_profiles_pssense);