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9fbe81e494
Port across the Oculus Rift S driver from OpenHMD as a native Monado driver. This is mostly the same as the OpenHMD 3DOF driver, with slightly better HMD distortion correction, various small fixes, some capsense touch detection support. Controller poses are rotated 40° to match grip pose.
118 lines
2.4 KiB
C
118 lines
2.4 KiB
C
/*
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* Copyright 2020 Jan Schmidt
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* SPDX-License-Identifier: BSL-1.0
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*
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* OpenHMD - Free and Open Source API and drivers for immersive technology.
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*/
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/*!
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* @file
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* @brief Oculus Rift S Touch Controller interface
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* @author Jan Schmidt <jan@centricular.com>
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* @ingroup drv_rift_s
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*/
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#ifndef RIFT_S_CONTROLLER_H
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#define RIFT_S_CONTROLLER_H
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#include "math/m_imu_3dof.h"
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#include "os/os_time.h"
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#include "xrt/xrt_device.h"
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#include "rift_s.h"
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#define MAX_LOG_SIZE 1024
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typedef struct
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{
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uint16_t accel_limit;
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uint16_t gyro_limit;
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uint16_t accel_hz;
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uint16_t gyro_hz;
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float accel_scale;
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float gyro_scale;
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} rift_s_controller_config;
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struct rift_s_controller
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{
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struct xrt_device base;
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struct os_mutex mutex;
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struct xrt_pose pose;
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/* The system this controller belongs to / receives reports from */
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struct rift_s_system *sys;
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uint64_t device_id;
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rift_s_device_type device_type;
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/* Debug logs */
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/* 0x04 = new log line
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* 0x02 = parity bit, toggles each line when receiving log chars
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* other bits, unknown */
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uint8_t log_flags;
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int log_bytes;
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uint8_t log[MAX_LOG_SIZE];
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/* IMU tracking */
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bool imu_time_valid;
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uint32_t imu_timestamp32;
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timepoint_ns last_imu_device_time_ns;
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timepoint_ns last_imu_local_time_ns;
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uint16_t imu_unknown_varying2;
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int16_t raw_accel[3];
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int16_t raw_gyro[3];
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struct xrt_vec3 accel;
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struct xrt_vec3 gyro;
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struct xrt_vec3 mag;
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struct m_imu_3dof fusion;
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/* Controls / buttons state */
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timepoint_ns last_controls_local_time_ns;
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/* 0x8, 0x0c 0x0d or 0xe block */
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uint8_t mask08;
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uint8_t buttons;
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uint8_t fingers;
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uint8_t mask0e;
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uint16_t trigger;
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uint16_t grip;
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int16_t joystick_x;
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int16_t joystick_y;
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uint8_t capsense_a_x;
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uint8_t capsense_b_y;
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uint8_t capsense_joystick;
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uint8_t capsense_trigger;
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uint8_t extra_bytes_len;
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uint8_t extra_bytes[48];
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bool reading_config;
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bool have_config;
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rift_s_controller_config config;
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bool reading_calibration;
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bool have_calibration;
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struct rift_s_controller_imu_calibration calibration;
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};
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struct rift_s_controller *
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rift_s_controller_create(struct rift_s_system *sys, enum xrt_device_type device_type);
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void
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rift_s_controller_update_configuration(struct rift_s_controller *ctrl, uint64_t device_id);
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bool
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rift_s_controller_handle_report(struct rift_s_controller *ctrl,
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timepoint_ns local_ts,
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rift_s_controller_report_t *report);
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#endif
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