matrixfurry.com
The open source OpenXR runtime
1// Copyright 2020-2021, N Madsen.
2// Copyright 2020-2021, Collabora, Ltd.
3// SPDX-License-Identifier: BSL-1.0
4/*!
5 * @file
6 * @brief WMR Motion Controller protocol constants, structures and helpers
7 * @author Nis Madsen <nima_zero_one@protonmail.com>
8 * @ingroup drv_wmr
9 */
10
11#pragma once
12
13#include "xrt/xrt_byte_order.h"
14
15#include "wmr_protocol.h"
16
17
18#ifdef __cplusplus
19extern "C" {
20#endif
21
22#ifdef XRT_DOXYGEN
23#define WMR_PACKED
24#else
25#define WMR_PACKED __attribute__((packed))
26#endif
27
28/*!
29 * WMR Motion Controller protocol constant and structures
30 *
31 * @addtogroup drv_wmr
32 * @{
33 */
34
35// Todo: Is this enough?
36#define WMR_MOTION_CONTROLLER_MSG_BUFFER_SIZE 256
37#define WMR_MOTION_CONTROLLER_NS_PER_TICK 100
38
39
40// Messages types for WMR motion controllers
41#define WMR_MOTION_CONTROLLER_STATUS_MSG 0x01
42
43struct wmr_controller_fw_cmd
44{
45 union {
46 struct
47 {
48 uint8_t prefix;
49 uint8_t cmd_id;
50 uint8_t block_id;
51
52 __le32 addr;
53 } WMR_PACKED cmd;
54 uint8_t buf[64];
55 };
56};
57
58#define WMR_CONTROLLER_FW_CMD_INIT(p, c, b, a) \
59 ((struct wmr_controller_fw_cmd){ \
60 .cmd = {.prefix = (p), .cmd_id = (c), .block_id = (b), .addr = __cpu_to_le32((a))}})
61
62struct wmr_controller_fw_cmd_response
63{
64 union {
65 struct
66 {
67 uint8_t prefix;
68 uint8_t zero;
69 uint8_t cmd_id_echo;
70 uint8_t zero1;
71 uint8_t block_id_echo;
72
73 __le32 blk_remain; /* Remaining bytes available in the block */
74 uint8_t len; /* Bytes in this response data */
75
76 uint8_t data[68];
77 } WMR_PACKED response;
78 uint8_t buf[78];
79 };
80};
81
82/*!
83 * @}
84 */
85
86#undef WMR_PACKED
87
88#ifdef __cplusplus
89}
90#endif