/* * Copyright 2019 Lucas Teske * Copyright 2019-2020 Jan Schmidt * SPDX-License-Identifier: BSL-1.0 * * OpenHMD - Free and Open Source API and drivers for immersive technology. */ /*! * @file * @brief Oculus Rift S USB protocol implementation interface. * * Functions for interpreting the USB protocol to the * headset and Touch Controllers (via the headset's radio link) * * Ported from OpenHMD * * @author Jan Schmidt */ #ifndef __RIFT_S_PROTOCOL__ #define __RIFT_S_PROTOCOL__ #include #include "os/os_hid.h" #include "xrt/xrt_defines.h" #define FEATURE_BUFFER_SIZE 256 #define KEEPALIVE_INTERVAL_MS 1000 #define CAMERA_REPORT_INTERVAL_MS 1000 #define RIFT_S_BUTTON_A_X 0x01 #define RIFT_S_BUTTON_B_Y 0x02 #define RIFT_S_BUTTON_STICK 0x04 #define RIFT_S_BUTTON_MENU_OCULUS 0x08 #define RIFT_S_BUTTON_UNKNOWN 0x10 // Unknown mask value seen sometimes. Low battery? #define RIFT_S_FINGER_A_X_STRONG 0x01 #define RIFT_S_FINGER_B_Y_STRONG 0x02 #define RIFT_S_FINGER_STICK_STRONG 0x04 #define RIFT_S_FINGER_TRIGGER_STRONG 0x08 #define RIFT_S_FINGER_A_X_WEAK 0x10 #define RIFT_S_FINGER_B_Y_WEAK 0x20 #define RIFT_S_FINGER_STICK_WEAK 0x40 #define RIFT_S_FINGER_TRIGGER_WEAK 0x80 typedef enum { RIFT_S_CTRL_MASK08 = 0x08, /* Unknown. Vals seen 0x28, 0x0a, 0x32, 0x46, 0x00... */ RIFT_S_CTRL_BUTTONS = 0x0c, /* Button states */ RIFT_S_CTRL_FINGERS = 0x0d, /* Finger positions */ RIFT_S_CTRL_MASK0e = 0x0e, /* Unknown. Only seen 0x00 */ RIFT_S_CTRL_TRIGGRIP = 0x1b, /* Trigger + Grip */ RIFT_S_CTRL_JOYSTICK = 0x22, /* Joystick X/Y */ RIFT_S_CTRL_CAPSENSE = 0x27, /* Capsense */ RIFT_S_CTRL_IMU = 0x91 } rift_s_controller_block_id_t; typedef enum { RIFT_S_DEVICE_TYPE_UNKNOWN = 0, RIFT_S_DEVICE_LEFT_CONTROLLER = 0x13001101, RIFT_S_DEVICE_RIGHT_CONTROLLER = 0x13011101, } rift_s_device_type; #pragma pack(push, 1) typedef struct { uint8_t id; uint32_t timestamp; uint16_t unknown_varying2; int16_t accel[3]; int16_t gyro[3]; } rift_s_controller_imu_block_t; typedef struct { /* 0x08, 0x0c, 0x0d or 0x0e block */ uint8_t id; uint8_t val; } rift_s_controller_maskbyte_block_t; typedef struct { /* 0x1b trigger/grip block */ uint8_t id; uint8_t vals[3]; } rift_s_controller_triggrip_block_t; typedef struct { /* 0x22 joystick axes block */ uint8_t id; uint32_t val; } rift_s_controller_joystick_block_t; typedef struct { /* 0x27 - capsense block */ uint8_t id; uint8_t a_x; uint8_t b_y; uint8_t joystick; uint8_t trigger; } rift_s_controller_capsense_block_t; typedef struct { uint8_t data[19]; } rift_s_controller_raw_block_t; typedef union { uint8_t block_id; rift_s_controller_imu_block_t imu; rift_s_controller_maskbyte_block_t maskbyte; rift_s_controller_triggrip_block_t triggrip; rift_s_controller_joystick_block_t joystick; rift_s_controller_capsense_block_t capsense; rift_s_controller_raw_block_t raw; } rift_s_controller_info_block_t; #pragma pack(pop) typedef struct { uint8_t id; uint64_t device_id; /* Length of the data block, which contains variable length entries * If this is < 4, then the flags and log aren't valid. */ uint8_t data_len; /* 0x04 = new log line * 0x02 = parity bit, toggles each line when receiving log chars * other bits, unknown */ uint8_t flags; // Contains up to 3 bytes of debug log chars uint8_t log[3]; uint8_t num_info; rift_s_controller_info_block_t info[8]; uint8_t extra_bytes_len; uint8_t extra_bytes[48]; } rift_s_controller_report_t; #pragma pack(push, 1) typedef struct { uint8_t marker; int16_t accel[3]; int16_t gyro[3]; int16_t temperature; } rift_s_hmd_imu_sample_t; typedef struct { uint8_t id; uint16_t unknown_const1; uint32_t timestamp; rift_s_hmd_imu_sample_t samples[3]; uint8_t marker; uint8_t unknown2; /* Frame timestamp and ID increment when the screen is running, * every 12.5 ms (80Hz) */ uint32_t frame_timestamp; int16_t unknown_zero1; int16_t frame_id; int16_t unknown_zero2; } rift_s_hmd_report_t; /* Read/Write using report 5 */ /* * 05 O1 O2 P1 P1 P2 P2 P3 P3 P4 P4 P5 P5 E1 E1 E3 * E4 E5 U1 U2 U3 A1 A1 A1 A1 A2 A2 A2 A2 A3 A3 A3 * A3 A4 A4 A4 A4 A5 A5 A5 A5 * * O1 = Camera stream on (0x00 = off, 0x1 = on) * O2 = Radio Sync? (Usage not clear, but seems to sometimes affect sync) * Px = Exposure *and* Vertical offset / position of camera x passthrough view * Seems to take values from 0x1db7-0x36b3. Values above 0x36c6 are ignored. * Ex = Gain of camera x passthrough view * U1U2U3 = 26 00 40 always? * Ax = ? of camera x. 4 byte LE, Always seems to take values 0x3b0-0x4ff * but I can't see the effect on the images, either controller or passthrough */ typedef struct { uint8_t id; uint8_t uvc_enable; uint8_t radio_sync_flag; /* One slot per camera: */ uint16_t slam_frame_exposures[5]; uint8_t slam_frame_gains[5]; uint8_t marker[3]; // 0x26 0x00 0x40 uint32_t unknown32[5]; } rift_s_camera_report_t; /* Read using report 6 */ typedef struct { uint8_t cmd; uint16_t v_resolution; uint16_t h_resolution; uint16_t unknown1; uint8_t refresh_rate; uint8_t unknown2[14]; } rift_s_panel_info_t; /* Read using report 9 */ struct rift_s_imu_config_info_t { uint8_t cmd; uint32_t imu_hz; float gyro_scale; /* Gyro = reading / gyro_scale - in degrees */ float accel_scale; /* Accel = reading * g / accel_scale */ float temperature_scale; /* Temperature = reading / scale + offset */ float temperature_offset; }; /* Packet read from endpoint 11 (0x0b) */ typedef struct { uint8_t cmd; uint8_t seqnum; uint8_t busy_flag; uint8_t response_bytes[197]; } rift_s_hmd_radio_response_t; /* Struct for sending radio commands to 0x12 / 0x13 */ typedef struct { uint8_t cmd; uint64_t device_id; uint8_t cmd_bytes[52]; } rift_s_hmd_radio_command_t; typedef struct { uint64_t device_id; uint32_t device_type; uint64_t empty[2]; } rift_s_device_type_record_t; #pragma pack(pop) /* The maximum number that can fit in a 200 byte report */ #define DEVICES_LIST_MAX_DEVICES 7 typedef struct { uint8_t num_devices; rift_s_device_type_record_t devices[DEVICES_LIST_MAX_DEVICES]; } rift_s_devices_list_t; int rift_s_read_firmware_version(struct os_hid_device *hid); int rift_s_read_panel_info(struct os_hid_device *hid, rift_s_panel_info_t *panel_info); int rift_s_read_imu_config_info(struct os_hid_device *hid, struct rift_s_imu_config_info_t *imu_config); int rift_s_read_fw_proximity_threshold(struct os_hid_device *hid, int *proximity_threshold); int rift_s_protocol_set_proximity_threshold(struct os_hid_device *hid, uint16_t threshold); int rift_s_hmd_enable(struct os_hid_device *hid, bool enable); int rift_s_set_screen_enable(struct os_hid_device *hid, bool enable); void rift_s_send_keepalive(struct os_hid_device *hid); void rift_s_protocol_camera_report_init(rift_s_camera_report_t *camera_report); int rift_s_protocol_send_camera_report(struct os_hid_device *hid, rift_s_camera_report_t *camera_report); bool rift_s_parse_hmd_report(rift_s_hmd_report_t *report, const unsigned char *buf, int size); bool rift_s_parse_controller_report(rift_s_controller_report_t *report, const unsigned char *buf, int size); int rift_s_read_firmware_block(struct os_hid_device *handle, uint8_t block_id, char **data_out, int *len_out); int rift_s_read_devices_list(struct os_hid_device *handle, rift_s_devices_list_t *dev_list); void rift_s_hexdump_buffer(const char *label, const unsigned char *buf, int length); // Debugging int rift_s_snprintf_hexdump_buffer( char *outbuf, size_t outbufsize, const char *label, const unsigned char *buf, int length); // Debugging #endif