The open source OpenXR runtime
d/rift: Remote timestamps, gravity correction, monotonic samples
Part-of: <https://gitlab.freedesktop.org/monado/monado/-/merge_requests/2428>
+90
-11
+31
-10
src/xrt/drivers/rift/rift_hmd.c
+31
-10
src/xrt/drivers/rift/rift_hmd.c
···
21
21
#include "rift_distortion.h"
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#include "math/m_relation_history.h"
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+
#include "math/m_clock_tracking.h"
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#include "math/m_api.h"
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#include "math/m_vec2.h"
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#include "math/m_mathinclude.h" // IWYU pragma: keep
···
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if (hmd->sensor_thread.initialized)
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os_thread_helper_stop_and_wait(&hmd->sensor_thread);
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if (hmd->clock_tracker)
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m_clock_windowed_skew_tracker_destroy(hmd->clock_tracker);
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m_relation_history_destroy(&hmd->relation_hist);
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if (hmd->lens_distortions)
···
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* We unpack them in the higher 21 bit values first and then shift
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* them down to the lower in order to get the sign bits correct.
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*
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* "Inspired" (code copied verbatim) from OpenHMD's rift driver
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* Code taken/reformated from OpenHMD's rift driver
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*/
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static void
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rift_decode_sample(const uint8_t *in, int32_t *out)
···
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return 0;
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}
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int64_t remote_sample_timestamp_ns = (int64_t)report.sample_timestamp * 1000;
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// ignore samples that are behind the latest current sample
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if (remote_sample_timestamp_ns < hmd->last_sample_time_ns) {
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return 0;
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}
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hmd->last_sample_time_ns = remote_sample_timestamp_ns;
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m_clock_windowed_skew_tracker_push(hmd->clock_tracker, os_monotonic_get_ns(),
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remote_sample_timestamp_ns);
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+
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int64_t local_timestamp_ns;
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// if we havent synchronized our clocks, just do nothing
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if (!m_clock_windowed_skew_tracker_to_local(hmd->clock_tracker, remote_sample_timestamp_ns,
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&local_timestamp_ns)) {
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return 0;
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}
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struct dk2_sample_pack sample_pack = report.samples[report.num_samples >= 2 ? 1 : 0];
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int32_t accel_raw[3], gyro_raw[3];
···
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rift_sample_to_imu_space(accel_raw, &accel);
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rift_sample_to_imu_space(gyro_raw, &gyro);
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-
uint64_t sample_timestamp_ns = (uint64_t)report.sample_timestamp * 1000;
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-
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HMD_INFO(hmd, "sample timestamp: %ld", sample_timestamp_ns);
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m_imu_3dof_update(&hmd->fusion, sample_timestamp_ns, &accel, &gyro);
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m_imu_3dof_update(&hmd->fusion, local_timestamp_ns, &accel, &gyro);
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struct xrt_space_relation relation = XRT_SPACE_RELATION_ZERO;
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relation.relation_flags = (enum xrt_space_relation_flags)(XRT_SPACE_RELATION_ORIENTATION_TRACKED_BIT |
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XRT_SPACE_RELATION_ORIENTATION_VALID_BIT);
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relation.pose.orientation = hmd->fusion.rot;
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m_relation_history_push(hmd->relation_hist, &relation, os_monotonic_get_ns());
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m_relation_history_push(hmd->relation_hist, &relation, local_timestamp_ns);
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break;
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}
···
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hmd->extra_display_info.icd = info.lens_horizontal_separation_meters;
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-
for (int i = 0; i < 2; i++) {
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info.fov[i] = 93;
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-
}
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// hardcode some "okay" values
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info.fov[0] = 93;
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info.fov[1] = 93;
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if (!u_device_setup_split_side_by_side(&hmd->base, &info)) {
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HMD_ERROR(hmd, "Failed to setup basic device info");
···
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goto error;
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}
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-
m_imu_3dof_init(&hmd->fusion, 0);
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m_imu_3dof_init(&hmd->fusion, M_IMU_3DOF_USE_GRAVITY_DUR_300MS);
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hmd->clock_tracker = m_clock_windowed_skew_tracker_alloc(64);
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result = os_thread_helper_start(&hmd->sensor_thread, sensor_thread, hmd);
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+59
-1
src/xrt/drivers/rift/rift_interface.h
+59
-1
src/xrt/drivers/rift/rift_interface.h
···
105
105
RIFT_LENS_TYPE_B = 1,
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};
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+
#define IN_REPORT_DK2 11
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+
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#define CATMULL_COEFFICIENTS 11
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#define CHROMATIC_ABBERATION_COEFFEICENT_COUNT 4
110
112
···
193
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} RIFT_PACKED data;
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} RIFT_PACKED;
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196
-
#define IN_REPORT_DK2 11
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struct dk2_report_keepalive_mux
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{
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uint16_t command;
···
201
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uint16_t interval;
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} RIFT_PACKED;
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+
enum rift_display_mode
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{
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RIFT_DISPLAY_MODE_GLOBAL,
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RIFT_DISPLAY_MODE_ROLLING_TOP_BOTTOM,
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RIFT_DISPLAY_MODE_ROLLING_LEFT_RIGHT,
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RIFT_DISPLAY_MODE_ROLLING_RIGHT_LEFT,
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};
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+
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enum rift_display_limit
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{
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RIFT_DISPLAY_LIMIT_ACL_OFF = 0,
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RIFT_DISPLAY_LIMIT_ACL_30 = 1,
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RIFT_DISPLAY_LIMIT_ACL_25 = 2,
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RIFT_DISPLAY_LIMIT_ACL_50 = 3,
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+
};
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+
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enum rift_display_flags
222
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{
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RIFT_DISPLAY_USE_ROLLING = 1 << 6,
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RIFT_DISPLAY_REVERSE_ROLLING = 1 << 7,
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RIFT_DISPLAY_HIGH_BRIGHTNESS = 1 << 8,
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RIFT_DISPLAY_SELF_REFRESH = 1 << 9,
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RIFT_DISPLAY_READ_PIXEL = 1 << 10,
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RIFT_DISPLAY_DIRECT_PENTILE = 1 << 11,
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+
};
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+
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struct rift_display_report
232
+
{
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+
uint16_t command_id;
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// relative brightness setting independent of pixel persistence, only effective when high brightness is disabled
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uint8_t brightness;
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// a set of flags, ordered from LSB -> MSB
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// - panel mode/shutter type (4 bits), read only, see rift_display_mode
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// - current limit (2 bits), see rift_display_limit
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// - use rolling (1 bit)
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// - reverse rolling (1 bit), unavailable on released DK2 firmware for unknown reason
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// - high brightness (1 bit), unavailable on released DK2 firmware for unpublished reason
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+
// - self refresh (1 bit)
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// - read pixel (1 bit)
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// - direct pentile (1 bit)
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+
uint32_t flags;
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+
// the length of time in rows that the display is lit each frame, defaults to the full size of the display, full
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+
// persistence
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+
uint16_t persistence;
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+
// the offset in rows from vsync that the panel is lit when using global shutter, no effect in rolling shutter,
250
+
// disabled on released DK2 firmware for unknown reason
251
+
uint16_t lighting_offset;
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+
// the time in microseconds it is estimated for a pixel to settle to one value after it is set, read only
253
+
uint16_t pixel_settle;
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// the number of rows including active area and blanking period used with persistence and lightingoffset, read
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// only
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+
uint16_t total_rows;
257
+
} RIFT_PACKED;
258
+
204
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struct dk2_sensor_sample
205
260
{
206
261
uint8_t data[8];
···
328
383
329
384
struct os_hid_device *hid_dev;
330
385
struct os_thread_helper sensor_thread;
386
+
int64_t last_sample_time_ns;
387
+
331
388
struct m_imu_3dof fusion;
389
+
struct m_clock_windowed_skew_tracker *clock_tracker;
332
390
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int64_t last_keepalive_time;
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enum rift_variant variant;