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Fix loading calibration data from Xreal Air 2 Ultra

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This commit is contained in:
Jacki 2025-03-27 22:02:02 +01:00
parent c84f468bdd
commit c5e051de68
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GPG key ID: B404184796354C5E
4 changed files with 51 additions and 24 deletions
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1
interface_lib/include/device_imu.h
View file

@ -138,6 +138,7 @@ struct device_imu_t {
uint16_t product_id;
void* handle;
uint16_t max_payload_size;
uint32_t static_id;

2
interface_lib/include/hid_ids.h
View file

@ -47,6 +47,8 @@ bool is_xreal_product_id(uint16_t product_id);
int xreal_imu_interface_id(uint16_t product_id);
int xreal_mcu_interface_id(uint16_t product_id);
uint16_t xreal_imu_max_payload_size(uint16_t product_id);
#ifdef __cplusplus
} // extern "C"
#endif

55
interface_lib/src/device_imu.c
View file

@ -67,12 +67,10 @@ struct device_imu_calibration_t {
FusionQuaternion noises;
};
#define MAX_PACKET_SIZE 64
static bool send_payload(device_imu_type* device, uint8_t size, const uint8_t* payload) {
static bool send_payload(device_imu_type* device, uint16_t size, const uint8_t* payload) {
int payload_size = size;
if (payload_size > MAX_PACKET_SIZE) {
payload_size = MAX_PACKET_SIZE;
if (payload_size > device->max_payload_size) {
payload_size = device->max_payload_size;
}
int transferred = hid_write(device->handle, payload, payload_size);
@ -85,10 +83,10 @@ static bool send_payload(device_imu_type* device, uint8_t size, const uint8_t* p
return (transferred == size);
}
static bool recv_payload(device_imu_type* device, uint8_t size, uint8_t* payload) {
static bool recv_payload(device_imu_type* device, uint16_t size, uint8_t* payload) {
int payload_size = size;
if (payload_size > MAX_PACKET_SIZE) {
payload_size = MAX_PACKET_SIZE;
if (payload_size > device->max_payload_size) {
payload_size = device->max_payload_size;
}
int transferred = hid_read(device->handle, payload, payload_size);
@ -114,12 +112,12 @@ struct __attribute__((__packed__)) device_imu_payload_packet_t {
uint32_t checksum;
uint16_t length;
uint8_t msgid;
uint8_t data [56];
uint8_t data [512 - 8];
};
typedef struct device_imu_payload_packet_t device_imu_payload_packet_type;
static bool send_payload_msg(device_imu_type* device, uint8_t msgid, uint8_t len, const uint8_t* data) {
static bool send_payload_msg(device_imu_type* device, uint8_t msgid, uint16_t len, const uint8_t* data) {
static device_imu_payload_packet_type packet;
const uint16_t packet_len = 3 + len;
@ -144,7 +142,7 @@ static bool send_payload_msg_signal(device_imu_type* device, uint8_t msgid, uint
return send_payload_msg(device, msgid, 1, &signal);
}
static bool recv_payload_msg(device_imu_type* device, uint8_t msgid, uint8_t len, uint8_t* data) {
static bool recv_payload_msg(device_imu_type* device, uint8_t msgid, uint16_t len, uint8_t* data) {
static device_imu_payload_packet_type packet;
packet.head = 0;
@ -223,6 +221,7 @@ device_imu_error_type device_imu_open(device_imu_type* device, device_imu_event_
#endif
device->product_id = it->product_id;
device->handle = hid_open_path(it->path);
device->max_payload_size = xreal_imu_max_payload_size(device->product_id);
break;
}
@ -236,7 +235,8 @@ device_imu_error_type device_imu_open(device_imu_type* device, device_imu_event_
return DEVICE_IMU_ERROR_NO_HANDLE;
}
if (!send_payload_msg_signal(device, DEVICE_IMU_MSG_START_IMU_DATA, 0x0)) {
if ((!send_payload_msg_signal(device, DEVICE_IMU_MSG_START_IMU_DATA, 0x0)) ||
(!recv_payload_msg(device, DEVICE_IMU_MSG_START_IMU_DATA, 0, NULL))) {
device_imu_error("Failed sending payload to stop imu data stream");
return DEVICE_IMU_ERROR_PAYLOAD_FAILED;
}
@ -257,7 +257,7 @@ device_imu_error_type device_imu_open(device_imu_type* device, device_imu_event_
device->calibration = malloc(sizeof(device_imu_calibration_type));
device_imu_reset_calibration(device);
if (!send_payload_msg(device, DEVICE_IMU_MSG_GET_CAL_DATA_LENGTH, 0, NULL)) {
device_imu_error("Failed sending payload to get calibration data length");
return DEVICE_IMU_ERROR_PAYLOAD_FAILED;
@ -265,17 +265,18 @@ device_imu_error_type device_imu_open(device_imu_type* device, device_imu_event_
uint32_t calibration_len = 0;
if (recv_payload_msg(device, DEVICE_IMU_MSG_GET_CAL_DATA_LENGTH, 4, (uint8_t*) &calibration_len)) {
const uint16_t max_packet_size = (device->max_payload_size - 8);
char* calibration_data = malloc(calibration_len + 1);
uint32_t position = 0;
while (position < calibration_len) {
const uint32_t remaining = (calibration_len - position);
if (!send_payload_msg(device, DEVICE_IMU_MSG_CAL_DATA_GET_NEXT_SEGMENT, 0, NULL)) {
break;
}
const uint8_t next = (remaining > 56? 56 : remaining);
const uint16_t next = (remaining > max_packet_size? max_packet_size : remaining);
if (!recv_payload_msg(device, DEVICE_IMU_MSG_CAL_DATA_GET_NEXT_SEGMENT, next, (uint8_t*) calibration_data + position)) {
break;
@ -320,12 +321,13 @@ device_imu_error_type device_imu_open(device_imu_type* device, device_imu_event_
json_tokener_free(tokener);
free(calibration_data);
}
if (!send_payload_msg_signal(device, DEVICE_IMU_MSG_START_IMU_DATA, 0x1)) {
if ((!send_payload_msg_signal(device, DEVICE_IMU_MSG_START_IMU_DATA, 0x1)) ||
(!recv_payload_msg(device, DEVICE_IMU_MSG_START_IMU_DATA, 0, NULL))) {
device_imu_error("Failed sending payload to start imu data stream");
return DEVICE_IMU_ERROR_PAYLOAD_FAILED;
}
const uint32_t SAMPLE_RATE = 1000;
device->offset = malloc(sizeof(FusionOffset));
@ -699,7 +701,7 @@ device_imu_error_type device_imu_calibrate(device_imu_type* device, uint32_t ite
return DEVICE_IMU_ERROR_NO_ALLOCATION;
}
if (MAX_PACKET_SIZE != sizeof(device_imu_packet_type)) {
if (sizeof(device_imu_packet_type) > device->max_payload_size) {
device_imu_error("Not proper size");
return DEVICE_IMU_ERROR_WRONG_SIZE;
}
@ -724,7 +726,7 @@ device_imu_error_type device_imu_calibrate(device_imu_type* device, uint32_t ite
transferred = hid_read(
device->handle,
(uint8_t*) &packet,
MAX_PACKET_SIZE
sizeof(device_imu_packet_type)
);
if (transferred == -1) {
@ -736,7 +738,7 @@ device_imu_error_type device_imu_calibrate(device_imu_type* device, uint32_t ite
continue;
}
if (MAX_PACKET_SIZE != transferred) {
if (sizeof(device_imu_packet_type) != transferred) {
device_imu_error("Unexpected packet size");
return DEVICE_IMU_ERROR_UNEXPECTED;
}
@ -815,7 +817,7 @@ device_imu_error_type device_imu_read(device_imu_type* device, int timeout) {
return DEVICE_IMU_ERROR_NO_HANDLE;
}
if (MAX_PACKET_SIZE != sizeof(device_imu_packet_type)) {
if (sizeof(device_imu_packet_type) > device->max_payload_size) {
device_imu_error("Not proper size");
return DEVICE_IMU_ERROR_WRONG_SIZE;
}
@ -826,7 +828,7 @@ device_imu_error_type device_imu_read(device_imu_type* device, int timeout) {
int transferred = hid_read_timeout(
device->handle,
(uint8_t*) &packet,
MAX_PACKET_SIZE,
sizeof(device_imu_packet_type),
timeout
);
@ -839,7 +841,7 @@ device_imu_error_type device_imu_read(device_imu_type* device, int timeout) {
return DEVICE_IMU_ERROR_NO_ERROR;
}
if (MAX_PACKET_SIZE != transferred) {
if (sizeof(device_imu_packet_type) != transferred) {
device_imu_error("Unexpected packet size");
return DEVICE_IMU_ERROR_UNEXPECTED;
}
@ -967,6 +969,11 @@ device_imu_error_type device_imu_close(device_imu_type* device) {
}
if (device->handle) {
if ((!send_payload_msg_signal(device, DEVICE_IMU_MSG_START_IMU_DATA, 0x0)) ||
(!recv_payload_msg(device, DEVICE_IMU_MSG_START_IMU_DATA, 0, NULL))) {
device_imu_error("Failed sending payload to stop imu data stream");
}
hid_close(device->handle);
}

17
interface_lib/src/hid_ids.c
View file

@ -56,6 +56,13 @@ const int xreal_mcu_interface_ids[NUM_SUPPORTED_PRODUCTS] = {
0 // XREAL Air 2 Ultra MCU
};
const uint16_t xreal_imu_max_payload_sizes[NUM_SUPPORTED_PRODUCTS] = {
64, // XREAL Air
64, // XREAL Air 2
64, // XREAL Air 2 Pro
512 // XREAL Air 2 Ultra
};
static int xreal_product_index(uint16_t product_id) {
for (int i = 0; i < NUM_SUPPORTED_PRODUCTS; i++) {
if (xreal_product_ids[i] == product_id) {
@ -89,3 +96,13 @@ int xreal_mcu_interface_id(uint16_t product_id) {
return -1;
}
}
uint16_t xreal_imu_max_payload_size(uint16_t product_id) {
const int index = xreal_product_index(product_id);
if (index >= 0) {
return xreal_imu_max_payload_sizes[index];
} else {
return 0;
}
}