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5fe935a5b0
Calculate and configure USB transfers to read the cameras on a WMR headset. Needs more work to make use of the received frames.
158 lines
3.4 KiB
C
158 lines
3.4 KiB
C
// Copyright 2018, Philipp Zabel.
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// Copyright 2020-2021, N Madsen.
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// Copyright 2020-2021, Collabora, Ltd.
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// SPDX-License-Identifier: BSL-1.0
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/*!
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* @file
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* @brief WMR and MS HoloLens protocol constants, structures and helpers header
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* @author Philipp Zabel <philipp.zabel@gmail.com>
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* @author nima01 <nima_zero_one@protonmail.com>
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* @ingroup drv_wmr
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*/
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#pragma once
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#include "math/m_vec2.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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/*!
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* WMR and MS HoloLens Sensors protocol constants and structures
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*
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* @ingroup drv_wmr
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* @{
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*/
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#define WMR_FEATURE_BUFFER_SIZE 497
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#define WMR_MS_HOLOLENS_NS_PER_TICK 100
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// Messages types specific to WMR Hololens Sensors devices
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#define WMR_MS_HOLOLENS_MSG_SENSORS 0x01
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#define WMR_MS_HOLOLENS_MSG_CONTROL 0x02 // Integrated motion controller messages?
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#define WMR_MS_HOLOLENS_MSG_DEBUG 0x03
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#define WMR_MS_HOLOLENS_MSG_UNKNOWN_05 0x05
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#define WMR_MS_HOLOLENS_MSG_UNKNOWN_06 0x06
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#define WMR_MS_HOLOLENS_MSG_UNKNOWN_0E 0x0E
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#define WMR_MS_HOLOLENS_MSG_UNKNOWN_17 0x17
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// Messages types specific to WMR Hololens Sensors' companion devices
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#define WMR_CONTROL_MSG_IPD_VALUE 0x01
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#define WMR_CONTROL_MSG_UNKNOWN_05 0x05
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#define STR_TO_U32(s) ((uint32_t)(((s)[0]) | ((s)[1] << 8) | ((s)[2] << 16) | ((s)[3] << 24)))
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#define WMR_MAGIC STR_TO_U32("Dlo+")
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static const unsigned char hololens_sensors_imu_on[64] = {0x02, 0x07};
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struct hololens_sensors_packet
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{
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uint8_t id;
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uint16_t temperature[4];
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uint64_t gyro_timestamp[4];
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int16_t gyro[3][4 * 8];
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uint64_t accel_timestamp[4];
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int32_t accel[3][4];
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uint64_t video_timestamp[4];
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};
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struct wmr_config_header
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{
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uint32_t json_start;
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uint32_t json_size;
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char manufacturer[0x40];
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char device[0x40];
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char serial[0x40];
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char uid[0x26];
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char unk[0xd5];
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char name[0x40];
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char revision[0x20];
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char revision_date[0x20];
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};
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/*!
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* @}
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*/
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/*!
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* WMR and MS HoloLens Sensors protocol helpers
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*
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* @ingroup drv_wmr
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* @{
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*/
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void
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vec3_from_hololens_accel(int32_t sample[3][4], int i, struct xrt_vec3 *out_vec);
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void
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vec3_from_hololens_gyro(int16_t sample[3][32], int i, struct xrt_vec3 *out_vec);
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static inline uint8_t
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read8(const unsigned char **buffer)
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{
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uint8_t ret = **buffer;
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*buffer += 1;
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return ret;
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}
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static inline int16_t
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read16(const unsigned char **buffer)
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{
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int16_t ret = (*(*buffer + 0) << 0) | //
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(*(*buffer + 1) << 8);
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*buffer += 2;
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return ret;
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}
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static inline int32_t
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read24(const unsigned char **buffer)
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{
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// Note: Preserve sign by shifting up to write MSB
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int32_t ret = (*(*buffer + 0) << 8) | (*(*buffer + 1) << 16) | (*(*buffer + 2) << 24);
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*buffer += 3;
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// restore 24 bit scale again
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return ret >> 8;
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}
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static inline int32_t
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read32(const unsigned char **buffer)
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{
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int32_t ret = (*(*buffer + 0) << 0) | //
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(*(*buffer + 1) << 8) | //
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(*(*buffer + 2) << 16) | //
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(*(*buffer + 3) << 24);
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*buffer += 4;
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return ret;
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}
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static inline uint64_t
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read64(const unsigned char **buffer)
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{
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uint64_t ret = ((uint64_t) * (*buffer + 0) << 0) | //
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((uint64_t) * (*buffer + 1) << 8) | //
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((uint64_t) * (*buffer + 2) << 16) | //
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((uint64_t) * (*buffer + 3) << 24) | //
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((uint64_t) * (*buffer + 4) << 32) | //
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((uint64_t) * (*buffer + 5) << 40) | //
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((uint64_t) * (*buffer + 6) << 48) | //
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((uint64_t) * (*buffer + 7) << 56);
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*buffer += 8;
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return ret;
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}
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/*!
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* @}
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*/
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#ifdef __cplusplus
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}
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#endif
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