matrixfurry.com
The open source OpenXR runtime
1/*
2 * Copyright 2020 Jan Schmidt
3 * SPDX-License-Identifier: BSL-1.0
4 *
5 * OpenHMD - Free and Open Source API and drivers for immersive technology.
6 */
7
8/*!
9 * @file
10 * @brief Oculus Rift S Touch Controller interface
11 * @author Jan Schmidt <jan@centricular.com>
12 * @ingroup drv_rift_s
13 */
14
15#ifndef RIFT_S_CONTROLLER_H
16#define RIFT_S_CONTROLLER_H
17
18#include "math/m_imu_3dof.h"
19
20#include "os/os_time.h"
21#include "xrt/xrt_device.h"
22
23#include "rift_s.h"
24
25#define MAX_LOG_SIZE 1024
26
27typedef struct
28{
29 uint16_t accel_limit;
30 uint16_t gyro_limit;
31 uint16_t accel_hz;
32 uint16_t gyro_hz;
33
34 float accel_scale;
35 float gyro_scale;
36} rift_s_controller_config;
37
38struct rift_s_controller
39{
40 struct xrt_device base;
41
42 struct os_mutex mutex;
43
44 struct xrt_pose pose;
45
46 /* The system this controller belongs to / receives reports from */
47 struct rift_s_system *sys;
48
49 uint64_t device_id;
50 rift_s_device_type device_type;
51
52 /* Debug logs */
53 /* 0x04 = new log line
54 * 0x02 = parity bit, toggles each line when receiving log chars
55 * other bits, unknown */
56 uint8_t log_flags;
57 int log_bytes;
58 uint8_t log[MAX_LOG_SIZE];
59
60 /* IMU tracking */
61 bool imu_time_valid;
62 uint32_t imu_timestamp32;
63 timepoint_ns last_imu_device_time_ns;
64 timepoint_ns last_imu_local_time_ns;
65
66 uint16_t imu_unknown_varying2;
67 int16_t raw_accel[3];
68 int16_t raw_gyro[3];
69
70 struct xrt_vec3 accel;
71 struct xrt_vec3 gyro;
72 struct xrt_vec3 mag;
73 struct m_imu_3dof fusion;
74
75 /* Controls / buttons state */
76 timepoint_ns last_controls_local_time_ns;
77
78 /* 0x8, 0x0c 0x0d or 0xe block */
79 uint8_t mask08;
80 uint8_t buttons;
81 uint8_t fingers;
82 uint8_t mask0e;
83
84 uint16_t trigger;
85 uint16_t grip;
86
87 int16_t joystick_x;
88 int16_t joystick_y;
89
90 uint8_t capsense_a_x;
91 uint8_t capsense_b_y;
92 uint8_t capsense_joystick;
93 uint8_t capsense_trigger;
94
95 uint8_t extra_bytes_len;
96 uint8_t extra_bytes[48];
97
98 bool reading_config;
99 bool have_config;
100 rift_s_controller_config config;
101
102 bool reading_calibration;
103 bool have_calibration;
104 struct rift_s_controller_imu_calibration calibration;
105};
106
107struct rift_s_controller *
108rift_s_controller_create(struct rift_s_system *sys, enum xrt_device_type device_type);
109
110void
111rift_s_controller_update_configuration(struct rift_s_controller *ctrl, uint64_t device_id);
112bool
113rift_s_controller_handle_report(struct rift_s_controller *ctrl,
114 timepoint_ns local_ts,
115 rift_s_controller_report_t *report);
116
117#endif