Merge branch 'main' into merge_to_jackimonster
Signed-off-by: TheJackiMonster <thejackimonster@gmail.com>
This commit is contained in:
TheJackiMonster
commit
caa956e918
3 changed files with 104 additions and 89 deletions
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@ -122,8 +122,6 @@ struct device3_t {
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device3_event_callback callback;
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device3_calibration_type* calibration;
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bool ready;
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};
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typedef struct device3_t device3_type;
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@ -140,7 +138,7 @@ void device3_clear(device3_type* device);
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int device3_calibrate(device3_type* device, uint32_t iterations, bool gyro, bool accel, bool magnet);
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int device3_read(device3_type* device, int timeout, bool silent);
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int device3_read(device3_type* device, int timeout);
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device3_vec3_type device3_get_earth_acceleration(const device3_ahrs_type* ahrs);
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@ -36,6 +36,12 @@
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#include "crc32.h"
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#ifndef NDEBUG
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#define device3_error(msg) fprintf(stderr, "ERROR: %s\n", msg)
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#else
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#define device3_error(msg) (0)
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#endif
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struct device3_calibration_t {
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FusionMatrix gyroscopeMisalignment;
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FusionVector gyroscopeSensitivity;
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@ -66,7 +72,7 @@ static bool send_payload(device3_type* device, uint8_t size, const uint8_t* payl
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int transferred = hid_write(device->handle, payload, payload_size);
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if (transferred != payload_size) {
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fprintf(stderr, "ERROR: sending payload failed\n");
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device3_error("Sending payload failed");
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return false;
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}
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@ -90,7 +96,7 @@ static bool recv_payload(device3_type* device, uint8_t size, uint8_t* payload) {
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}
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if (transferred != payload_size) {
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fprintf(stderr, "ERROR: receiving payload failed\n");
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device3_error("Receiving payload failed");
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return false;
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}
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@ -180,6 +186,7 @@ device3_type* device3_open(device3_event_callback callback) {
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device3_type* device = (device3_type*) malloc(sizeof(device3_type));
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if (!device) {
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device3_error("Not allocated");
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return NULL;
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}
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@ -189,6 +196,7 @@ device3_type* device3_open(device3_event_callback callback) {
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device->callback = callback;
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if (0 != hid_init()) {
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device3_error("Not initialized");
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return device;
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}
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@ -210,12 +218,14 @@ device3_type* device3_open(device3_event_callback callback) {
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hid_free_enumeration(info);
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if (!device->handle) {
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device3_error("No handle");
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return device;
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}
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device3_clear(device);
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if (!send_payload_msg(device, DEVICE3_MSG_GET_STATIC_ID, 0, NULL)) {
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device3_error("Failed sending payload to get static id");
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return device;
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}
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@ -230,6 +240,7 @@ device3_type* device3_open(device3_event_callback callback) {
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device3_reset_calibration(device);
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if (!send_payload_msg(device, DEVICE3_MSG_GET_CAL_DATA_LENGTH, 0, NULL)) {
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device3_error("Failed sending payload to get calibration data length");
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return device;
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}
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@ -285,6 +296,7 @@ device3_type* device3_open(device3_event_callback callback) {
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}
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if (!send_payload_msg_signal(device, DEVICE3_MSG_START_IMU_DATA, 0x1)) {
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device3_error("Failed sending payload to start imu data stream");
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return device;
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}
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@ -306,19 +318,17 @@ device3_type* device3_open(device3_event_callback callback) {
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FusionAhrsSetSettings((FusionAhrs*) device->ahrs, &settings);
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device->ready = true;
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return device;
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}
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void device3_reset_calibration(device3_type* device) {
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if (!device) {
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fprintf(stderr, "No device!\n");
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device3_error("No device");
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return;
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}
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if (!device->calibration) {
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fprintf(stderr, "Not allocated!\n");
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device3_error("Not allocated");
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return;
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}
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@ -343,18 +353,18 @@ void device3_reset_calibration(device3_type* device) {
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int device3_load_calibration(device3_type* device, const char* path) {
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if (!device) {
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fprintf(stderr, "No device!\n");
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device3_error("No device");
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return -1;
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}
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if (!device->calibration) {
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fprintf(stderr, "Not allocated!\n");
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device3_error("Not allocated");
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return -2;
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}
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FILE* file = fopen(path, "rb");
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if (!file) {
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fprintf(stderr, "No file opened!\n");
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device3_error("No file opened");
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return -3;
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}
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@ -362,11 +372,11 @@ int device3_load_calibration(device3_type* device, const char* path) {
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count = fread(device->calibration, 1, sizeof(device3_calibration_type), file);
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if (sizeof(device3_calibration_type) != count) {
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fprintf(stderr, "Not fully loaded!\n");
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device3_error("Not fully loaded");
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}
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if (0 != fclose(file)) {
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fprintf(stderr, "No file closed!\n");
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device3_error("No file closed");
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return -4;
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}
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@ -375,18 +385,18 @@ int device3_load_calibration(device3_type* device, const char* path) {
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int device3_save_calibration(device3_type* device, const char* path) {
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if (!device) {
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fprintf(stderr, "No device!\n");
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device3_error("No device");
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return -1;
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}
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if (!device->calibration) {
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fprintf(stderr, "Not allocated!\n");
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device3_error("Not allocated");
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return -2;
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}
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FILE* file = fopen(path, "wb");
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if (!file) {
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fprintf(stderr, "No file opened!\n");
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device3_error("No file opened");
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return -3;
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}
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@ -394,11 +404,11 @@ int device3_save_calibration(device3_type* device, const char* path) {
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count = fwrite(device->calibration, 1, sizeof(device3_calibration_type), file);
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if (sizeof(device3_calibration_type) != count) {
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fprintf(stderr, "Not fully saved!\n");
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device3_error("Not fully saved");
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}
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if (0 != fclose(file)) {
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fprintf(stderr, "No file closed!\n");
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device3_error("No file closed");
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return -4;
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}
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@ -605,12 +615,12 @@ void device3_clear(device3_type* device) {
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int device3_calibrate(device3_type* device, uint32_t iterations, bool gyro, bool accel, bool magnet) {
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if (!device) {
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fprintf(stderr, "No device!\n");
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device3_error("No device");
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return -1;
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}
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if (MAX_PACKET_SIZE != sizeof(device3_packet_type)) {
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fprintf(stderr, "Not proper size!\n");
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device3_error("Not proper size");
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return -2;
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}
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@ -644,7 +654,7 @@ int device3_calibrate(device3_type* device, uint32_t iterations, bool gyro, bool
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}
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if (MAX_PACKET_SIZE != transferred) {
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fprintf(stderr, "HID read error: unexpected packet size\n");
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device3_error("Not expected issue");
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return -3;
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}
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@ -719,19 +729,20 @@ int device3_calibrate(device3_type* device, uint32_t iterations, bool gyro, bool
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return 0;
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}
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int device3_read(device3_type* device, int timeout, bool silent) {
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if (!device || !device->ready) {
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if (!silent) {
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fprintf(stderr, "No device!\n");
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}
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int device3_read(device3_type* device, int timeout) {
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if (!device) {
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device3_error("No device");
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return -1;
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}
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if (!device->handle) {
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device3_error("No handle");
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return -2;
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}
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if (MAX_PACKET_SIZE != sizeof(device3_packet_type)) {
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if (!silent) {
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fprintf(stderr, "Not proper size!\n");
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}
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return -2;
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device3_error("Not proper size");
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return -3;
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}
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device3_packet_type packet;
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@ -745,10 +756,8 @@ int device3_read(device3_type* device, int timeout, bool silent) {
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);
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if (transferred == -1) {
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if (!silent) {
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fprintf(stderr, "HID read error: device may be unplugged\n");
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}
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return -5;
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device3_error("Device may be unplugged");
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return -4;
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}
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if (transferred == 0) {
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@ -756,10 +765,8 @@ int device3_read(device3_type* device, int timeout, bool silent) {
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}
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if (MAX_PACKET_SIZE != transferred) {
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if (!silent) {
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fprintf(stderr, "HID read error: unexpected packet size\n");
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}
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return -3;
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device3_error("Unexpected packet size");
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return -5;
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}
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const uint64_t timestamp = packet.timestamp;
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@ -770,10 +777,8 @@ int device3_read(device3_type* device, int timeout, bool silent) {
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}
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if ((packet.signature[0] != 0x01) || (packet.signature[1] != 0x02)) {
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if (!silent) {
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fprintf(stderr, "Mismatched signature! Try unplugging then replugging your device.\n");
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}
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return -4;
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device3_error("Not matching signature");
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return -6;
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}
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const uint64_t delta = timestamp - device->last_timestamp;
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@ -804,13 +809,13 @@ int device3_read(device3_type* device, int timeout, bool silent) {
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if (device->ahrs) {
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FusionAhrsUpdateNoMagnetometer((FusionAhrs*) device->ahrs, gyroscope, accelerometer, deltaTime);
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const device3_quat_type orientation = device3_get_orientation(device->ahrs);
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// TODO: fix detection of this case; quat.x as a nan value is only a side-effect of some issue with ahrs or
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// the gyro/accel/magnet readings
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if (isnan(device3_get_orientation(device->ahrs).x)) {
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if (!silent) {
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fprintf(stderr, "Invalid device reading\n");
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}
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return -5;
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if (isnan(orientation.x) || isnan(orientation.y) || isnan(orientation.z) || isnan(orientation.w)) {
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device3_error("Invalid orientation reading");
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return -7;
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}
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}
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@ -862,6 +867,7 @@ device3_vec3_type device3_get_euler(device3_quat_type quat) {
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void device3_close(device3_type* device) {
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if (!device) {
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device3_error("No device");
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return;
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}
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@ -35,6 +35,12 @@
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#include "crc32.h"
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#ifndef NDEBUG
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#define device4_error(msg) fprintf(stderr, "ERROR: %s\n", msg)
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#else
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#define device4_error(msg) (0)
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#endif
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#define MAX_PACKET_SIZE 64
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#define PACKET_HEAD 0xFD
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@ -47,7 +53,7 @@ static bool send_payload(device4_type* device, uint8_t size, const uint8_t* payl
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int transferred = hid_write(device->handle, payload, payload_size);
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if (transferred != payload_size) {
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fprintf(stderr, "ERROR: sending payload failed\n");
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device4_error("Sending payload failed");
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return false;
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}
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@ -71,7 +77,7 @@ static bool recv_payload(device4_type* device, uint8_t size, uint8_t* payload) {
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}
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if (transferred != payload_size) {
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fprintf(stderr, "ERROR: receiving payload failed\n");
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device4_error("Receiving payload failed");
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return false;
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}
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@ -111,19 +117,19 @@ static bool recv_payload_msg(device4_type* device, uint16_t msgid, uint8_t len,
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}
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if (packet.head != PACKET_HEAD) {
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perror("ERROR: invalid payload received\n");
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device4_error("Invalid payload received");
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return false;
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}
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if (packet.msgid != msgid) {
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perror("ERROR: unexpected payload received\n");
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device4_error("Unexpected payload received");
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return false;
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}
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const uint8_t status = packet.data[0];
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if (status != 0) {
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perror("ERROR: payload status failed\n");
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device4_error("Payload status failed");
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return false;
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}
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@ -156,7 +162,6 @@ static bool do_payload_action(device4_type* device, uint16_t msgid, uint8_t len,
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attempts--;
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}
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perror("ERROR: payload status failed\n");
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return false;
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}
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@ -164,7 +169,7 @@ device4_type* device4_open(device4_event_callback callback) {
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device4_type* device = (device4_type*) malloc(sizeof(device4_type));
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if (!device) {
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fprintf(stderr, "Not allocated!\n");
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device4_error("Not allocated");
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return NULL;
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}
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@ -174,7 +179,7 @@ device4_type* device4_open(device4_event_callback callback) {
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device->callback = callback;
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if (0 != hid_init()) {
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fprintf(stderr, "Not initialized!\n");
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device4_error("Not initialized");
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return device;
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}
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@ -196,57 +201,57 @@ device4_type* device4_open(device4_event_callback callback) {
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hid_free_enumeration(info);
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if (!device->handle) {
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fprintf(stderr, "No handle!\n");
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device4_error("No handle");
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return device;
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}
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device4_clear(device);
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if (!send_payload_action(device, DEVICE4_MSG_R_ACTIVATION_TIME, 0, NULL)) {
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fprintf(stderr, "Requesting activation time failed!\n");
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device4_error("Requesting activation time failed");
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return device;
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}
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uint8_t activated;
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if (!recv_payload_msg(device, DEVICE4_MSG_R_ACTIVATION_TIME, 1, &activated)) {
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fprintf(stderr, "Receiving activation time failed!\n");
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device4_error("Receiving activation time failed");
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return device;
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}
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device->activated = (activated != 0);
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if (!device->activated) {
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fprintf(stderr, "Device is not activated!\n");
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device4_error("Device is not activated");
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return device;
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}
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if (!send_payload_action(device, DEVICE4_MSG_R_MCU_APP_FW_VERSION, 0, NULL)) {
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fprintf(stderr, "Requesting current MCU app firmware version!\n");
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device4_error("Requesting current MCU app firmware version");
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return device;
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}
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if (!recv_payload_msg(device, DEVICE4_MSG_R_MCU_APP_FW_VERSION, 41, (uint8_t*) device->mcu_app_fw_version)) {
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fprintf(stderr, "Receiving current MCU app firmware version failed!\n");
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device4_error("Receiving current MCU app firmware version failed");
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return device;
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}
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if (!send_payload_action(device, DEVICE4_MSG_R_DP7911_FW_VERSION, 0, NULL)) {
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fprintf(stderr, "Requesting current DP firmware version!\n");
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device4_error("Requesting current DP firmware version");
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return device;
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}
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if (!recv_payload_msg(device, DEVICE4_MSG_R_DP7911_FW_VERSION, 41, (uint8_t*) device->dp_fw_version)) {
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fprintf(stderr, "Receiving current DP firmware version failed!\n");
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device4_error("Receiving current DP firmware version failed");
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return device;
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}
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if (!send_payload_action(device, DEVICE4_MSG_R_DSP_APP_FW_VERSION, 0, NULL)) {
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fprintf(stderr, "Requesting current DSP app firmware version!\n");
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device4_error("Requesting current DSP app firmware version");
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return device;
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}
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if (!recv_payload_msg(device, DEVICE4_MSG_R_DSP_APP_FW_VERSION, 41, (uint8_t*) device->dsp_fw_version)) {
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fprintf(stderr, "Receiving current DSP app firmware version failed!\n");
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device4_error("Receiving current DSP app firmware version failed");
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return device;
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}
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@ -257,22 +262,22 @@ device4_type* device4_open(device4_event_callback callback) {
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#endif
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if (!send_payload_action(device, DEVICE4_MSG_R_BRIGHTNESS, 0, NULL)) {
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fprintf(stderr, "Requesting initial brightness failed!\n");
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device4_error("Requesting initial brightness failed");
|
||||
return device;
|
||||
}
|
||||
|
||||
if (!recv_payload_msg(device, DEVICE4_MSG_R_BRIGHTNESS, 1, &device->brightness)) {
|
||||
fprintf(stderr, "Receiving initial brightness failed!\n");
|
||||
device4_error("Receiving initial brightness failed");
|
||||
return device;
|
||||
}
|
||||
|
||||
if (!send_payload_action(device, DEVICE4_MSG_R_DISP_MODE, 0, NULL)) {
|
||||
fprintf(stderr, "Requesting display mode failed!\n");
|
||||
device4_error("Requesting display mode failed");
|
||||
return device;
|
||||
}
|
||||
|
||||
if (!recv_payload_msg(device, DEVICE4_MSG_R_DISP_MODE, 1, &device->disp_mode)) {
|
||||
fprintf(stderr, "Receiving display mode failed!\n");
|
||||
device4_error("Receiving display mode failed");
|
||||
return device;
|
||||
}
|
||||
|
||||
|
|
@ -301,13 +306,19 @@ void device4_clear(device4_type* device) {
|
|||
}
|
||||
|
||||
int device4_read(device4_type* device, int timeout) {
|
||||
if ((!device) || (!device->handle)) {
|
||||
if (!device) {
|
||||
device4_error("No device");
|
||||
return -1;
|
||||
}
|
||||
|
||||
if (!device->handle) {
|
||||
device4_error("No handle");
|
||||
return -2;
|
||||
}
|
||||
|
||||
if (MAX_PACKET_SIZE != sizeof(device4_packet_type)) {
|
||||
fprintf(stderr, "Not proper size!\n");
|
||||
return -2;
|
||||
device4_error("Not proper size");
|
||||
return -3;
|
||||
}
|
||||
|
||||
device4_packet_type packet;
|
||||
|
|
@ -325,13 +336,13 @@ int device4_read(device4_type* device, int timeout) {
|
|||
}
|
||||
|
||||
if (MAX_PACKET_SIZE != transferred) {
|
||||
fprintf(stderr, "Reading failed!\n");
|
||||
return -3;
|
||||
device4_error("Reading failed");
|
||||
return -4;
|
||||
}
|
||||
|
||||
if (packet.head != PACKET_HEAD) {
|
||||
fprintf(stderr, "Wrong packet!\n");
|
||||
return -4;
|
||||
device4_error("Wrong packet");
|
||||
return -5;
|
||||
}
|
||||
|
||||
const uint32_t timestamp = packet.timestamp;
|
||||
|
|
@ -415,8 +426,8 @@ int device4_read(device4_type* device, int timeout) {
|
|||
device->active = true;
|
||||
|
||||
if (data_len + text_len != packet.length) {
|
||||
fprintf(stderr, "Not matching length!\n");
|
||||
return -5;
|
||||
device4_error("Not matching length");
|
||||
return -6;
|
||||
}
|
||||
|
||||
device4_callback(
|
||||
|
|
@ -451,7 +462,7 @@ bool device4_update_mcu_firmware(device4_type* device, const char* path) {
|
|||
}
|
||||
|
||||
if (!device->activated) {
|
||||
fprintf(stderr, "Device is not activated!\n");
|
||||
device4_error("Device is not activated");
|
||||
return false;
|
||||
}
|
||||
|
||||
|
|
@ -478,28 +489,28 @@ bool device4_update_mcu_firmware(device4_type* device, const char* path) {
|
|||
printf("Prepare upload: %lu\n", firmware_len);
|
||||
|
||||
if (!do_payload_action(device, DEVICE4_MSG_W_UPDATE_MCU_APP_FW_PREPARE, 0, NULL)) {
|
||||
fprintf(stderr, "Failed preparing the device for MCU firmware update!\n");
|
||||
device4_error("Failed preparing the device for MCU firmware update!\n");
|
||||
goto cleanup;
|
||||
}
|
||||
|
||||
if (!do_payload_action(device, DEVICE4_MSG_W_MCU_APP_JUMP_TO_BOOT, 0, NULL)) {
|
||||
fprintf(stderr, "Failed mcu app jumping to boot!\n");
|
||||
device4_error("Failed mcu app jumping to boot");
|
||||
goto cleanup;
|
||||
}
|
||||
|
||||
if (!send_payload_action(device, DEVICE4_MSG_R_ACTIVATION_TIME, 0, NULL)) {
|
||||
perror("Requesting activation time failed!\n");
|
||||
device4_error("Requesting activation time failed");
|
||||
return device;
|
||||
}
|
||||
|
||||
uint8_t activated;
|
||||
if (!recv_payload_msg(device, DEVICE4_MSG_R_ACTIVATION_TIME, 1, &activated)) {
|
||||
perror("Receiving activation time failed!\n");
|
||||
device4_error("Receiving activation time failed");
|
||||
return device;
|
||||
}
|
||||
|
||||
if (!activated) {
|
||||
perror("Device is not activated!\n");
|
||||
device4_error("Device is not activated");
|
||||
goto jump_to_app;
|
||||
}
|
||||
|
||||
|
|
@ -521,17 +532,17 @@ bool device4_update_mcu_firmware(device4_type* device, const char* path) {
|
|||
}
|
||||
|
||||
if (!do_payload_action(device, msgid, len, firmware + offset)) {
|
||||
fprintf(stderr, "Failed sending firmware upload!\n");
|
||||
device4_error("Failed sending firmware upload");
|
||||
goto jump_to_app;
|
||||
}
|
||||
|
||||
offset += len;
|
||||
}
|
||||
|
||||
printf("Finish upload!\n");
|
||||
printf("Finish upload");
|
||||
|
||||
if (!do_payload_action(device, DEVICE4_MSG_W_UPDATE_MCU_APP_FW_FINISH, 0, NULL)) {
|
||||
fprintf(stderr, "Failed finishing firmware upload!\n");
|
||||
device4_error("Failed finishing firmware upload");
|
||||
goto jump_to_app;
|
||||
}
|
||||
|
||||
|
|
@ -539,7 +550,7 @@ bool device4_update_mcu_firmware(device4_type* device, const char* path) {
|
|||
|
||||
jump_to_app:
|
||||
if (!do_payload_action(device, DEVICE4_MSG_W_BOOT_JUMP_TO_APP, 0, NULL)) {
|
||||
fprintf(stderr, "Failed boot jumping back to app!\n");
|
||||
device4_error("Failed boot jumping back to app");
|
||||
goto cleanup;
|
||||
}
|
||||
|
||||
|
|
|
|||
Reference in a new issue