mirrors/monado
1
0
Fork 0
mirror of https://gitlab.freedesktop.org/monado/monado.git synced 2025-01-19 21:28:50 +00:00
Code Issues Actions Packages Projects Releases Wiki Activity

d/vive: Add initial support for Vive Pro.

Browse source
This commit is contained in:
Lubosz Sarnecki 2019-10-22 18:13:39 +02:00
parent e063e8245e
commit 2ed3109c95
3 changed files with 102 additions and 6 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

36
src/xrt/drivers/vive/vive_device.c
View file

@ -337,8 +337,17 @@ update_imu(struct vive_device *d, struct vive_imu_report *report)
VIVE_SPEW(d, "GYRO %f %f %f", angular_velocity.x,
angular_velocity.y, angular_velocity.z);
// flip x axis
angular_velocity.x = -angular_velocity.x;
switch (d->variant) {
case VIVE_VARIANT_VIVE:
// flip x axis
angular_velocity.x = -angular_velocity.x;
break;
case VIVE_VARIANT_PRO:
// flip y axis
angular_velocity.y = -angular_velocity.y;
break;
default: VIVE_ERROR("Unhandled Vive variant\n"); return;
}
math_quat_integrate_velocity(
&d->rot_filtered, &angular_velocity,
@ -488,6 +497,8 @@ vive_sensros_get_imu_range_report(struct vive_device *d)
VIVE_ERROR("Gyroscope or accelerometer range too large.");
VIVE_ERROR("Gyroscope: %d", report.gyro_range);
VIVE_ERROR("Aaccelerometer: %d", report.accel_range);
d->imu.gyro_range = 8.726646f;
d->imu.acc_range = 39.226600f;
return -1;
}
@ -640,10 +651,23 @@ vive_parse_config(struct vive_device *d, char *json_string)
const nx_json *json = nx_json_parse(json_string, 0);
if (json) {
_json_get_vec3(json, "acc_bias", &d->imu.acc_bias);
_json_get_vec3(json, "acc_scale", &d->imu.acc_scale);
_json_get_vec3(json, "gyro_bias", &d->imu.gyro_bias);
_json_get_vec3(json, "gyro_scale", &d->imu.gyro_scale);
switch (d->variant) {
case VIVE_VARIANT_VIVE:
_json_get_vec3(json, "acc_bias", &d->imu.acc_bias);
_json_get_vec3(json, "acc_scale", &d->imu.acc_scale);
_json_get_vec3(json, "gyro_bias", &d->imu.gyro_bias);
_json_get_vec3(json, "gyro_scale", &d->imu.gyro_scale);
break;
case VIVE_VARIANT_PRO: {
const nx_json *imu = nx_json_get(json, "imu");
_json_get_vec3(imu, "acc_bias", &d->imu.acc_bias);
_json_get_vec3(imu, "acc_scale", &d->imu.acc_scale);
_json_get_vec3(imu, "gyro_bias", &d->imu.gyro_bias);
_json_get_vec3(imu, "gyro_scale", &d->imu.gyro_scale);
} break;
default: VIVE_ERROR("Unknown Vive variant.\n"); return false;
}
d->firmware.model_number =
_json_get_string(json, "model_number");

71
src/xrt/drivers/vive/vive_prober.c
View file

@ -16,6 +16,7 @@
#include "vive_prober.h"
static const char VIVE_PRODUCT_STRING[] = "HTC Vive";
static const char VIVE_PRO_PRODUCT_STRING[] = "VIVE Pro";
static const char VIVE_MANUFACTURER_STRING[] = "HTC";
DEBUG_GET_ONCE_BOOL_OPTION(vive_debug, "VIVE_PRINT_DEBUG", false)
@ -111,6 +112,73 @@ init_vive1(struct xrt_prober *xp,
return 1;
}
static int
init_vive_pro(struct xrt_prober *xp,
struct xrt_prober_device *dev,
struct xrt_prober_device **devices,
size_t num_devices,
bool print_debug,
struct xrt_device **out_xdev)
{
if (print_debug)
_print_device_info(xp, dev);
if (!xrt_prober_match_string(xp, dev, XRT_PROBER_STRING_MANUFACTURER,
VIVE_MANUFACTURER_STRING) ||
!xrt_prober_match_string(xp, dev, XRT_PROBER_STRING_PRODUCT,
VIVE_PRO_PRODUCT_STRING)) {
if (print_debug)
printf("Vive Pro manufactuer string did not match.\n");
return -1;
}
struct os_hid_device *sensors_dev = NULL;
for (uint32_t i = 0; i < num_devices; i++) {
struct xrt_prober_device *d = devices[i];
if (d->vendor_id != VALVE_VID &&
d->product_id != VIVE_PRO_LHR_PID)
continue;
if (print_debug)
_print_device_info(xp, d);
int result =
xrt_prober_open_hid_interface(xp, d, 0, &sensors_dev);
if (result != 0) {
VIVE_ERROR("Could not open Vive sensors device.");
return -1;
}
break;
}
if (sensors_dev == NULL) {
VIVE_ERROR("Could not find Vive Pro sensors device.");
return -1;
}
struct os_hid_device *mainboard_dev = NULL;
int result = xrt_prober_open_hid_interface(xp, dev, 0, &mainboard_dev);
if (result != 0) {
VIVE_ERROR("Could not open Vive mainboard device.");
free(sensors_dev);
return -1;
}
struct vive_device *d =
vive_device_create(mainboard_dev, sensors_dev, VIVE_VARIANT_PRO);
if (d == NULL) {
free(sensors_dev);
free(mainboard_dev);
return -1;
}
*out_xdev = &d->base;
return 1;
}
int
vive_found(struct xrt_prober *xp,
struct xrt_prober_device **devices,
@ -134,6 +202,9 @@ vive_found(struct xrt_prober *xp,
case VIVE_PID:
return init_vive1(xp, dev, devices, num_devices, print_debug,
out_xdev);
case VIVE_PRO_MAINBOARD_PID:
return init_vive_pro(xp, dev, devices, num_devices, print_debug,
out_xdev);
default:
VIVE_ERROR("No product ids matched %.4x\n", dev->product_id);
return -1;

1
src/xrt/targets/common/target_lists.c
View file

@ -67,6 +67,7 @@ struct xrt_prober_entry target_entry_list[] = {
#ifdef XRT_BUILD_DRIVER_VIVE
{HTC_VID, VIVE_PID, vive_found, "HTC Vive"},
{HTC_VID, VIVE_PRO_MAINBOARD_PID, vive_found, "HTC Vive Pro"},
#endif
{0x0000, 0x0000, NULL, NULL}, // Terminate