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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; uint16_t product_id;
void* handle; void* handle;
uint16_t max_payload_size;
uint32_t static_id; 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_imu_interface_id(uint16_t product_id);
int xreal_mcu_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 #ifdef __cplusplus
} // extern "C" } // extern "C"
#endif #endif

47
interface_lib/src/device_imu.c
View file

@ -67,12 +67,10 @@ struct device_imu_calibration_t {
FusionQuaternion noises; FusionQuaternion noises;
}; };
#define MAX_PACKET_SIZE 64 static bool send_payload(device_imu_type* device, uint16_t size, const uint8_t* payload) {
static bool send_payload(device_imu_type* device, uint8_t size, const uint8_t* payload) {
int payload_size = size; int payload_size = size;
if (payload_size > MAX_PACKET_SIZE) { if (payload_size > device->max_payload_size) {
payload_size = MAX_PACKET_SIZE; payload_size = device->max_payload_size;
} }
int transferred = hid_write(device->handle, payload, 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); 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; int payload_size = size;
if (payload_size > MAX_PACKET_SIZE) { if (payload_size > device->max_payload_size) {
payload_size = MAX_PACKET_SIZE; payload_size = device->max_payload_size;
} }
int transferred = hid_read(device->handle, payload, 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; uint32_t checksum;
uint16_t length; uint16_t length;
uint8_t msgid; uint8_t msgid;
uint8_t data [56]; uint8_t data [512 - 8];
}; };
typedef struct device_imu_payload_packet_t device_imu_payload_packet_type; 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; static device_imu_payload_packet_type packet;
const uint16_t packet_len = 3 + len; 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); 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; static device_imu_payload_packet_type packet;
packet.head = 0; packet.head = 0;
@ -223,6 +221,7 @@ device_imu_error_type device_imu_open(device_imu_type* device, device_imu_event_
#endif #endif
device->product_id = it->product_id; device->product_id = it->product_id;
device->handle = hid_open_path(it->path); device->handle = hid_open_path(it->path);
device->max_payload_size = xreal_imu_max_payload_size(device->product_id);
break; 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; 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"); device_imu_error("Failed sending payload to stop imu data stream");
return DEVICE_IMU_ERROR_PAYLOAD_FAILED; return DEVICE_IMU_ERROR_PAYLOAD_FAILED;
} }
@ -265,6 +265,7 @@ device_imu_error_type device_imu_open(device_imu_type* device, device_imu_event_
uint32_t calibration_len = 0; uint32_t calibration_len = 0;
if (recv_payload_msg(device, DEVICE_IMU_MSG_GET_CAL_DATA_LENGTH, 4, (uint8_t*) &calibration_len)) { 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); char* calibration_data = malloc(calibration_len + 1);
uint32_t position = 0; uint32_t position = 0;
@ -275,7 +276,7 @@ device_imu_error_type device_imu_open(device_imu_type* device, device_imu_event_
break; 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)) { if (!recv_payload_msg(device, DEVICE_IMU_MSG_CAL_DATA_GET_NEXT_SEGMENT, next, (uint8_t*) calibration_data + position)) {
break; break;
@ -321,7 +322,8 @@ device_imu_error_type device_imu_open(device_imu_type* device, device_imu_event_
free(calibration_data); 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"); device_imu_error("Failed sending payload to start imu data stream");
return DEVICE_IMU_ERROR_PAYLOAD_FAILED; return DEVICE_IMU_ERROR_PAYLOAD_FAILED;
} }
@ -699,7 +701,7 @@ device_imu_error_type device_imu_calibrate(device_imu_type* device, uint32_t ite
return DEVICE_IMU_ERROR_NO_ALLOCATION; 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"); device_imu_error("Not proper size");
return DEVICE_IMU_ERROR_WRONG_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( transferred = hid_read(
device->handle, device->handle,
(uint8_t*) &packet, (uint8_t*) &packet,
MAX_PACKET_SIZE sizeof(device_imu_packet_type)
); );
if (transferred == -1) { if (transferred == -1) {
@ -736,7 +738,7 @@ device_imu_error_type device_imu_calibrate(device_imu_type* device, uint32_t ite
continue; continue;
} }
if (MAX_PACKET_SIZE != transferred) { if (sizeof(device_imu_packet_type) != transferred) {
device_imu_error("Unexpected packet size"); device_imu_error("Unexpected packet size");
return DEVICE_IMU_ERROR_UNEXPECTED; 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; 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"); device_imu_error("Not proper size");
return DEVICE_IMU_ERROR_WRONG_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( int transferred = hid_read_timeout(
device->handle, device->handle,
(uint8_t*) &packet, (uint8_t*) &packet,
MAX_PACKET_SIZE, sizeof(device_imu_packet_type),
timeout timeout
); );
@ -839,7 +841,7 @@ device_imu_error_type device_imu_read(device_imu_type* device, int timeout) {
return DEVICE_IMU_ERROR_NO_ERROR; return DEVICE_IMU_ERROR_NO_ERROR;
} }
if (MAX_PACKET_SIZE != transferred) { if (sizeof(device_imu_packet_type) != transferred) {
device_imu_error("Unexpected packet size"); device_imu_error("Unexpected packet size");
return DEVICE_IMU_ERROR_UNEXPECTED; return DEVICE_IMU_ERROR_UNEXPECTED;
} }
@ -967,6 +969,11 @@ device_imu_error_type device_imu_close(device_imu_type* device) {
} }
if (device->handle) { 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); 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 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) { static int xreal_product_index(uint16_t product_id) {
for (int i = 0; i < NUM_SUPPORTED_PRODUCTS; i++) { for (int i = 0; i < NUM_SUPPORTED_PRODUCTS; i++) {
if (xreal_product_ids[i] == product_id) { if (xreal_product_ids[i] == product_id) {
@ -89,3 +96,13 @@ int xreal_mcu_interface_id(uint16_t product_id) {
return -1; 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;
}
}