listEndpoints etc

display mode
Merge branch 'main' into imu-kickoff
2024-02-18 20:25:30 -05:00 · 2024-02-15 13:14:54 -05:00 · 2024-02-13 16:36:30 -05:00 · 2024-02-13 16:36:09 -05:00 · 2024-02-09 17:06:50 -05:00 · 2024-02-09 17:06:40 -05:00
7 changed files with 319 additions and 231 deletions
--- a/README.md
+++ b/README.md
@ -29,6 +29,11 @@ work in progress; webxr support for xreal devices
 - [XR Linux Driver](https://github.com/wheaney/XRLinuxDriver)
 - [OpenVR-xrealAirGlassesHMD](https://github.com/wheaney/OpenVR-xrealAirGlassesHMD)

+### Community Resources
+- [AR glasses USB protocols: the Good, the Bad and the Ugly](https://voidcomputing.hu/blog/good-bad-ugly) Void Computing AR API Write Up
+- [AHRS Drift Analysis - Notebook Gist](https://gist.github.com/CGamesPlay/b3ea7740ea8715d19e89f5511491519f)
+- [AHRS Drift Overview - Youtube](https://www.youtube.com/watch?v=Hvd9qVIusB0)
+
 ### Utilities

 - 🪞 [Unofficial Firmware Archive Mirror](https://air.msmithdev.com/)
--- a/common.js
+++ b/common.js
@ -128,7 +128,17 @@ export async function connectDevice() {
    if (glasses) {
        return glasses;
    }
-    return await requestDevice();
+    return await requestDevice({
+        filters: [{
+            vendorId: 0x0486, // ? ASUS Computers Inc. ?
+        }, {
+            vendorId: 0x0483, // STMicroelectronics ?
+        }, {
+            vendorId: 0x0482, // Kyocera Corporation ?
+        }, {
+            vendorId: 0x3318, // Gleaming Reality (Wuxi) Technology Co., LTD ?
+        }]
+    });
 }

 export async function disconnectDevice() {
--- a/index.html
+++ b/index.html
@ -51,7 +51,17 @@
            // Request USB device
            let device;
            try {
-                device = await navigator.usb.requestDevice({ filters: [{ vendorId: 0x2341 }] });
+                device = await navigator.usb.requestDevice({
+                    filters: [{
+                        vendorId: 0x0486, // ? ASUS Computers Inc. ?
+                    }, {
+                        vendorId: 0x0483, // STMicroelectronics ?
+                    }, {
+                        vendorId: 0x0482, // Kyocera Corporation ?
+                    }, {
+                        vendorId: 0x3318, // Gleaming Reality (Wuxi) Technology Co., LTD ?
+                    }]
+                });
            } catch (err) {
                console.error("No device was selected", err);
            }
--- a/index_old.html
+++ b/index_old.html
@ -71,6 +71,9 @@
 </head>
 <body>
    <div id="noSupportHid"></div>
+    <div id="listEndpoints">
+        <button onclick="listEndpoints()">list endpoints</button>
+    </div>
 	<div id="connect"><button>connect</button></div>
    <div id="disconnect" onclick="disconnectDevices()"><button>disconnect</button></div>
    <div id="startIMU" style="display: none;" onclick="startIMU()"><button>start headtracking</button></div>
@ -320,8 +323,11 @@
    //     });
    // }

-    function connect() {
+    window.connected_devices = [];
+
+    window.connect = function() {
        Common.connectDevice().then(async glasses => {
+            connected_devices.push(glasses);
            if (glasses) {
                document.getElementById('startIMU').style.display = 'block'
                document.getElementById('hadConnect').style.display = 'block'
@ -337,6 +343,8 @@
            // document.getElementById('sn').innerHTML = getSN()
            // document.getElementById('version').innerText = '版本号' + firmwareMcu()
            setOutput('glasses : ' + glasses.toString());
+        }).catch((err) => {
+            setOutput('glasses : ' + err.toString());
        });
    }

@ -446,6 +454,11 @@
        });
    }

+    window.listEndpoints = () => {
+       // Manager.listEndpoints(connected_devices[0]);
+       window.listUsbEndpoints();
+    }
+
    window.disconnectDevices = () => {
        window.curGlassesArray.map(g=>{
            g._device.close();
@ -455,31 +468,44 @@

    window.endpoints = [];

-    window.listUsbEndpoints = () => {
+    window.listUsbEndpoints = async () => {
        window.endpoints = [];
        // list usb endpoints
-        navigator.usb.requestDevice({filters:[]}).then((device)=>{
-            window.usb_device = device;
+        let device = await navigator.usb.requestDevice({
+            filters: [{
+                vendorId: 0x0486, // ? ASUS Computers Inc. ?
+            }, {
+                vendorId: 0x0483, // STMicroelectronics ?
+            }, {
+                vendorId: 0x0482, // Kyocera Corporation ?
+            }, {
+                vendorId: 0x3318, // Gleaming Reality (Wuxi) Technology Co., LTD ?
+            }]
+        })
+        
+        window.usb_device = device;

-            //usb_device.configurations[0].interfaces[1].alternates[1].endpoints[0]
+        //usb_device.configurations[0].interfaces[1].alternates[1].endpoints[0]

-            for(let configuration of device.configurations){
+        for(let configuration of device.configurations){

-                for(let _interface of configuration.interfaces){
+            for(let _interface of configuration.interfaces){

-                    for(let alternate of _interface?.alternates ?? []){
+                for(let alternate of _interface?.alternates ?? []){

-                        for(let endpoint of alternate.endpoints){
+                    for(let endpoint of alternate.endpoints){

-                            window.endpoints.push(endpoint);
-                        }
+                        window.endpoints.push(endpoint);
                    }
                }
            }
-
-            console.table(window.endpoints);
-        })
+        }
        
+        console.warn('CONNECTED TO DEVICE: ENDPOINTS:')
+        console.table(window.endpoints);
+
+        // new recursive debug printout:
+        await Manager.listEndpoints(device)
    }
    

--- a/js_air/glasses.js
+++ b/js_air/glasses.js
@ -132,9 +132,6 @@ window.logPackets = () => {

 export default class Glasses extends EventTarget {

-    /* RepeatingDeviceReportPoll */
-    imu_poller_instance = null;
-
    constructor(device) {
        console.log('constructing');
        super();
@ -143,24 +140,6 @@ export default class Glasses extends EventTarget {
        this._reports = new Map();
        this._captures = [];

-        // creates it, but doesn't start it...
-        this.imu_poller_instance = new RepeatingDeviceReportPoll({
-            interval: 100,
-            callback: async ()=>{
-                this.sendReportTimeout(Protocol.MESSAGES.R_IMU_DATA, [0x40]).then((report)=>{
-                    if(report){
-                        console.log('got report',report)
-                    }else{
-                        console.log('no report')
-                    }
-                }).catch((e)=>{
-                    console.error('error sending report',e)
-                }).finally(()=>{
-                    //console.log('finally')
-                });
-            }
-        });
-
        // set input listener
        device.oninputreport = this._handleInputReport.bind(this);

@ -364,7 +343,7 @@ export default class Glasses extends EventTarget {
                    return out
                }).join(' ');

-                document.getElementById('imu').innerHTML = stringified
+                //document.getElementById('imu').innerHTML = stringified
                
                // debugger;
                if(current < stop_at){
@ -465,7 +444,7 @@ export default class Glasses extends EventTarget {

 }

-class RepeatingDeviceReportPoll {
+class StartableEndableRepeatingCallback {
    timer = null;
    constructor(opts){
        opts = opts || {};
--- a/js_air/manager.js
+++ b/js_air/manager.js
@ -134,6 +134,39 @@ export async function getFirmwareVersionInDsp() {
        });
 }

+export async function listEndpoints(device) {
+    await device.open();
+
+    // Listing available configurations valid for selection
+    let configurations = device.configurations;
+    for (let i = 0; i < configurations.length; i++) {
+        console.log(`Configuration ${i}: ${configurations[i].configurationValue}`);
+        
+        try{
+            // Select the current configuration
+            // Assuming the configuration is 0-based
+            await device.selectConfiguration(i+1);
+
+            // Iterate over all available interfaces for the current configuration and claim them
+            for (let j = 0; j < device.configuration.interfaces.length; j++) {
+                try{
+                    await device.claimInterface(j);
+                    device.configuration.interfaces[j].alternates.forEach((alternate) => {
+                        console.log(`Configuration ${i}, iface ${j} Alternate ${alternate.alternateSetting}`);
+                        alternate.endpoints.forEach((endpoint) => {
+                            console.log(`Endpoint ${endpoint.endpointNumber} Direction ${endpoint.direction}`);
+                        });
+                    });
+                }catch(e){
+                    console.error(e);
+                }
+            }
+        }catch(e){
+            console.error(e)
+        }
+    }
+}
+
 // Parameters required for the progress bar
 // function progress(cur, all) {
 //     current = cur
@ -183,8 +216,19 @@ async function waitBootDevice() {
    }
    // await requestDevice()

+    // await navigator.hid.requestDevice({
+    //     filters: [{ vendorId: Protocol.NREAL_VENDOR_ID, productId: Protocol.NREAL_BOOT_PRODUCT_ID }]
+    // });
    await navigator.hid.requestDevice({
-        filters: [{ vendorId: Protocol.NREAL_VENDOR_ID, productId: Protocol.NREAL_BOOT_PRODUCT_ID }]
+        filters: [{
+            vendorId: 0x0486, // ? ASUS Computers Inc. ?
+        }, {
+            vendorId: 0x0483, // STMicroelectronics ?
+        }, {
+            vendorId: 0x0482, // Kyocera Corporation ?
+        }, {
+            vendorId: 0x3318, // Gleaming Reality (Wuxi) Technology Co., LTD ?
+        }]
    });
    const time = new Date().getTime();
    while ((new Date().getTime() - time) < 2000) {
@ -241,124 +285,124 @@ export function Asc2Hex(value) {
 //         });
 // }

-export async function upgradeInDsp(data) {
-    let glasses = await common.connectDevice();
-    if (!glasses) {
-        return false;
-    }
-    return sendFirmwareInDsp(glasses, data);
-}
+// export async function upgradeInDsp(data) {
+//     let glasses = await common.connectDevice();
+//     if (!glasses) {
+//         return false;
+//     }
+//     return sendFirmwareInDsp(glasses, data);
+// }

 /** need to upgrade firmware DP version? */
-export async function isNeedUpgradeInDp() {
-    let glasses = await common.connectDevice();
-    if (!glasses) {
-        return 'not found device';
-    }
-    return glasses.sendReportTimeout(Protocol.MESSAGES.R_DP7911_FW_IS_UPDATE)
-        .then(report => {
-            if (reportSuccess(report)) {
-                return report.payload[0]
-            }
-        });
-}
+// export async function isNeedUpgradeInDp() {
+//     let glasses = await common.connectDevice();
+//     if (!glasses) {
+//         return 'not found device';
+//     }
+//     return glasses.sendReportTimeout(Protocol.MESSAGES.R_DP7911_FW_IS_UPDATE)
+//         .then(report => {
+//             if (reportSuccess(report)) {
+//                 return report.payload[0]
+//             }
+//         });
+// }

-export async function upgradeInDp() {
-    let glasses = await common.connectDevice();
-    if (!glasses) {
-        return false;
-    }
-    // 添加眼镜休眠时间
-    const time = Protocol.time2Bytes('600');
-    return glasses.sendReportTimeout(Protocol.MESSAGES.W_SLEEP_TIME, time)
-        .then(report => {
-            if (reportSuccess(report)) {
-                return glasses.sendReportTimeout(Protocol.MESSAGES.W_UPDATE_DP)
-                    .then(async report => {
-                        if (reportSuccess(report)) {
-                            // wait for air dp upgrade completed
-                            while(!glasses._reports.has(27661) && common.curGlasses){
-                                await sleep(500)
-                                dpCurrent = glasses._reports.get(27660) ? glasses._reports.get(27660).status : 0
-                                progressInDp(dpCurrent)
-                            }
+// export async function upgradeInDp() {
+//     let glasses = await common.connectDevice();
+//     if (!glasses) {
+//         return false;
+//     }
+//     // 添加眼镜休眠时间
+//     const time = Protocol.time2Bytes('600');
+//     return glasses.sendReportTimeout(Protocol.MESSAGES.W_SLEEP_TIME, time)
+//         .then(report => {
+//             if (reportSuccess(report)) {
+//                 return glasses.sendReportTimeout(Protocol.MESSAGES.W_UPDATE_DP)
+//                     .then(async report => {
+//                         if (reportSuccess(report)) {
+//                             // wait for air dp upgrade completed
+//                             while(!glasses._reports.has(27661) && common.curGlasses){
+//                                 await sleep(500)
+//                                 dpCurrent = glasses._reports.get(27660) ? glasses._reports.get(27660).status : 0
+//                                 progressInDp(dpCurrent)
+//                             }
            
-                            return glasses._reports.get(27661) ? glasses._reports.get(27661).status == 0 : false
-                        }
+//                             return glasses._reports.get(27661) ? glasses._reports.get(27661).status == 0 : false
+//                         }
            
-                        return false
-                    });
-            }
-        });
+//                         return false
+//                     });
+//             }
+//         });

-}
+// }


-async function sendFirmwareInMcu(bootDevice, data) {
+// async function sendFirmwareInMcu(bootDevice, data) {

-    let ofs = 0;
-    const firstPackLen = 24;
-    const fwLen = data.byteLength;
+//     let ofs = 0;
+//     const firstPackLen = 24;
+//     const fwLen = data.byteLength;




-    let report = await bootDevice.sendReportTimeout(
-        Protocol.MESSAGES.W_UPDATE_MCU_APP_FW_START,
-        data.slice(ofs, ofs + firstPackLen));
-    if (!reportSuccess(report)) {
-        console.error('send fw data failed');
-        return false;
-    }
-    ofs += firstPackLen;
+//     let report = await bootDevice.sendReportTimeout(
+//         Protocol.MESSAGES.W_UPDATE_MCU_APP_FW_START,
+//         data.slice(ofs, ofs + firstPackLen));
+//     if (!reportSuccess(report)) {
+//         console.error('send fw data failed');
+//         return false;
+//     }
+//     ofs += firstPackLen;

-    while (ofs < fwLen) {
-        progress(ofs, fwLen)
-        if ((ofs + 42) > fwLen) {
-            report = await bootDevice.sendReportTimeout(
-                Protocol.MESSAGES.W_UPDATE_MCU_APP_FW_TRANSMIT,
-                data.slice(ofs, fwLen));
-            if (!reportSuccess(report)) {
-                console.error('send fw data failed');
-                return false;
-            }
-        }
-        report = await bootDevice.sendReportTimeout(
-            Protocol.MESSAGES.W_UPDATE_MCU_APP_FW_TRANSMIT,
-            data.slice(ofs, ofs + 42));
+//     while (ofs < fwLen) {
+//         progress(ofs, fwLen)
+//         if ((ofs + 42) > fwLen) {
+//             report = await bootDevice.sendReportTimeout(
+//                 Protocol.MESSAGES.W_UPDATE_MCU_APP_FW_TRANSMIT,
+//                 data.slice(ofs, fwLen));
+//             if (!reportSuccess(report)) {
+//                 console.error('send fw data failed');
+//                 return false;
+//             }
+//         }
+//         report = await bootDevice.sendReportTimeout(
+//             Protocol.MESSAGES.W_UPDATE_MCU_APP_FW_TRANSMIT,
+//             data.slice(ofs, ofs + 42));

-        if (!reportSuccess(report)) {
-            console.error('send fw data failed');
-            return false;
-        }
-        ofs += 42;
-    }
+//         if (!reportSuccess(report)) {
+//             console.error('send fw data failed');
+//             return false;
+//         }
+//         ofs += 42;
+//     }

-    /* send finish */
-    report = await bootDevice.sendReportTimeout(Protocol.MESSAGES.W_UPDATE_MCU_APP_FW_FINISH);
-    // if (!reportSuccess(report)) {
-    //     console.error('send fw data failed');
-    //     return false;
-    // }
-    /* jump to app */
-    report = await bootDevice.sendReportTimeout(Protocol.MESSAGES.W_BOOT_JUMP_TO_APP);
-    // if (!reportSuccess(report)) {
-    //     console.error('send fw data failed');
-    //     return false;
-    // }
+//     /* send finish */
+//     report = await bootDevice.sendReportTimeout(Protocol.MESSAGES.W_UPDATE_MCU_APP_FW_FINISH);
+//     // if (!reportSuccess(report)) {
+//     //     console.error('send fw data failed');
+//     //     return false;
+//     // }
+//     /* jump to app */
+//     report = await bootDevice.sendReportTimeout(Protocol.MESSAGES.W_BOOT_JUMP_TO_APP);
+//     // if (!reportSuccess(report)) {
+//     //     console.error('send fw data failed');
+//     //     return false;
+//     // }

-    // Send the command to upgrade the DP
-    // report = await bootDevice.sendReportTimeout(Protocol.MESSAGES.W_UPDATE_DP);
+//     // Send the command to upgrade the DP
+//     // report = await bootDevice.sendReportTimeout(Protocol.MESSAGES.W_UPDATE_DP);


-    current = 0
-    total = 0
-    return true;
+//     current = 0
+//     total = 0
+//     return true;


-}
-
+// }

+/*
 async function sendFirmwareInDsp(glasses, data) {

    let ofs = 0;
@ -441,7 +485,7 @@ async function sendFirmwareInDsp(glasses, data) {
        }
    }

-    /* send finish */
+    /* send finish *-/
    report = await glasses.sendReportTimeout(Protocol.MESSAGES.W_UPDATE_DSP_APP_FW_FINISH);
    // if (!reportSuccess(report)) {
    //     console.error('send fw data failed');
@ -449,7 +493,7 @@ async function sendFirmwareInDsp(glasses, data) {
    // }
    // dsp write bin ==> first 100%
    progress(ofs,fwLen)
-    /* Check whether the upgrade is complete */
+    /* Check whether the upgrade is complete *-/
    // air DSP judge for flash&boot
    // 删除之前刷新boot的过程，dsp重新刷新
    glasses._reports.delete(27664)
@ -487,6 +531,9 @@ async function sendFirmwareInDsp(glasses, data) {


 }
+*/
+
+

 // Delay synchronization program execution
 function sleep(delay) {
@ -514,10 +561,7 @@ export async function startIMU() {
        return Promise.reject('no device connected')
    }

-    // kick off polling
-    glasses.startIMUPolling();
-
-    return glasses.sendReportTimeout(Protocol.MESSAGES.W_TOGGLE_IMU, [0x1])
+    return glasses.sendReportTimeout(0x00, Protocol.MAGIC_PAYLOAD)
        .then(report => {
            console.warn('startIMU -> report',report);
            if (reportSuccess(report)){
@ -544,6 +588,32 @@ export async function stopIMU() {
        })
 }

+export async function getDisplayMode(){
+    let glasses = await common.connectDevice();
+    if (!glasses) {
+        return 'not found device';
+    }
+    return glasses.sendReportTimeout(Protocol.MESSAGES.R_DISPLAY_MODE)
+        .then(report => {
+            if (reportSuccess(report)) {
+                return report.payload[0];
+            }
+        });
+}
+
+export async function setDisplayMode(mode){
+    let glasses = await common.connectDevice();
+    if (!glasses) {
+        return 'not found device';
+    }
+    return glasses.sendReportTimeout(Protocol.MESSAGES.W_DISPLAY_MODE, [mode])
+        .then(report => {
+            if (reportSuccess(report)) {
+                return report.payload[0];
+            }
+        });
+}
+
 /** read air glassess Brightness */
 export async function getBrightness() {
    let glasses = await common.connectDevice();
@ -551,7 +621,7 @@ export async function getBrightness() {
        return 'not found device';
    }
    // what's the chance the getBrightness is the same as setBrightness?
-    return glasses.sendReportTimeout(Protocol.MESSAGES.W_BRIGHTNESS)
+    return glasses.sendReportTimeout(Protocol.MESSAGES.R_BRIGHTNESS)
    .then(report => {
            if (reportSuccess(report)) {
                return report.payload;
--- a/js_air/protocol.js
+++ b/js_air/protocol.js
@ -7,79 +7,61 @@ const CRC_OFS = 1;
 const TS_OFS = 7;
 const RESERVED_OFS = 17;

+// send to device 3 to enable IMU tracking reporting (removed first byte 0x00)
+export const MAGIC_PAYLOAD = new Uint8Array([0xaa, 0xc5, 0xd1, 0x21, 0x42, 0x04, 0x00, 0x19, 0x01]);

-export const NREAL_VENDOR_ID = 0x3318;
-export const BOOT_PRODUCT_ID = 0x0423;
-export const IMU_TIMEOUT = 250;
+class CliDisplayMode {
+    static SameOnBoth = "2d";
+    static Stereo = "3d";
+    static HalfSBS = "halfsbs";
+    static HighRefreshRate = "high-refresh-rate-2d";
+    static HighRefreshRateSBS = "high-refresh-rate-3d";

-export const ERRORS = {
-    DEVICE3_ERROR_NO_ERROR: 0,
-	DEVICE3_ERROR_NO_DEVICE: 1,
-	DEVICE3_ERROR_NO_HANDLE: 2,
-	DEVICE3_ERROR_NO_ALLOCATION: 3,
-	DEVICE3_ERROR_WRONG_SIZE: 4,
-	DEVICE3_ERROR_FILE_NOT_OPEN: 5,
-	DEVICE3_ERROR_FILE_NOT_CLOSED: 6,
-	DEVICE3_ERROR_LOADING_FAILED: 7,
-	DEVICE3_ERROR_SAVING_FAILED: 8,
-	DEVICE3_ERROR_UNPLUGGED: 9,
-	DEVICE3_ERROR_UNEXPECTED: 10,
-	DEVICE3_ERROR_WRONG_SIGNATURE: 11,
-	DEVICE3_ERROR_INVALID_VALUE: 12,
-	DEVICE3_ERROR_NOT_INITIALIZED: 13,
-	DEVICE3_ERROR_PAYLOAD_FAILED: 14,
-	DEVICE3_ERROR_UNKNOWN: 15,
-}
-
-class Device3Packet {
-    /*
-    uint8_t signature [2];
-	uint8_t temperature [2];
-	uint64_t timestamp;
-	uint8_t angular_multiplier [2];
-	uint8_t angular_divisor [4];
-	uint8_t angular_velocity_x [3];
-	uint8_t angular_velocity_y [3];
-	uint8_t angular_velocity_z [3];
-	uint8_t acceleration_multiplier [2];
-	uint8_t acceleration_divisor [4];
-	uint8_t acceleration_x [3];
-	uint8_t acceleration_y [3];
-	uint8_t acceleration_z [3];
-	uint8_t magnetic_multiplier [2];
-	uint8_t magnetic_divisor [4];
-	uint8_t magnetic_x [2];
-	uint8_t magnetic_y [2];
-	uint8_t magnetic_z [2];
-	uint32_t checksum;
-	uint8_t _padding [6];
-    */
-    constructor() {
-        this.signature = new Uint8Array(2);
-        this.temperature = new Uint8Array(2);
-        this.timestamp = new Uint8Array(8);
-        this.angular_multiplier = new Uint8Array(2);
-        this.angular_divisor = new Uint8Array(4);
-        this.angular_velocity_x = new Uint8Array(3);
-        this.angular_velocity_y = new Uint8Array(3);
-        this.angular_velocity_z = new Uint8Array(3);
-        this.acceleration_multiplier = new Uint8Array(2);
-        this.acceleration_divisor = new Uint8Array(4);
-        this.acceleration_x = new Uint8Array(3);
-        this.acceleration_y = new Uint8Array(3);
-        this.acceleration_z = new Uint8Array(3);
-        this.magnetic_multiplier = new Uint8Array(2);
-        this.magnetic_divisor = new Uint8Array(4);
-        this.magnetic_x = new Uint8Array(2);
-        this.magnetic_y = new Uint8Array(2);
-        this.magnetic_z = new Uint8Array(2);
-        this.checksum = new Uint8Array(4);
-        this._padding = new Uint8Array(6);
+    static getDisplayModeByte(displayMode) {
+        switch (displayMode) {
+            case CliDisplayMode.SameOnBoth:
+                return 1;
+            case CliDisplayMode.Stereo:
+                return 3;
+            case CliDisplayMode.HalfSBS:
+                return 8;
+            case CliDisplayMode.HighRefreshRate:
+                return 11;
+            case CliDisplayMode.HighRefreshRateSBS:
+                return 9;
+            default:
+                throw new Error("Invalid display mode");
+        }
    }
 }

+// Example usage
+let displayMode = CliDisplayMode.Stereo; // This can be dynamically set
+let displayModeByte = CliDisplayMode.getDisplayModeByte(displayMode);
+console.log(displayModeByte);
+
+
+export const NREAL_VENDOR_ID = 0x3318;
+export const BOOT_PRODUCT_ID = 0x0423;
+//export const IMU_RATE = 1000; // 1KHz
+
+// based on 24bit signed int w/ FSR = +/-2000 dps, datasheet option
+export const GYRO_SCALAR = (1.0 / 8388608.0 * 2000.0)
+
+// based on 24bit signed int w/ FSR = +/-16 g, datasheet option
+export const ACCEL_SCALAR = (1.0 / 8388608.0 * 16.0)
+
+// ticks are in nanoseconds, 1000 Hz packets
+// #define TICK_LEN (1.0f / 1E9f)
+
+class AirSample {
+    tick;
+    ang_vel; // 3
+    accel; // 3
+}
+
 export const MESSAGES = {
-    
+
    R_MCU_APP_FW_VERSION: 0x26,//MCU APP FW version.
    R_GLASSID: 0x15,//MCU APP FW version.
    // R_DSP_APP_FW_VERSION: 0x21,//DSP APP FW version.
@ -88,10 +70,16 @@ export const MESSAGES = {
    W_ACTIVATION_TIME: 0x2A,//Write activation time
    W_SLEEP_TIME: 0x1E,//Write unsleep time

-    R_IMU_DATA: 0x80,//IMU data
-    UNKNOWN_40: 0x40,//Unknown
+    // R_IMU_DATA: 0x80,//IMU data
+    // UNKNOWN_40: 0x40,//Unknown

-    W_TOGGLE_IMU: 0x19, 
+    R_DISPLAY_MODE: 0x7,//Read display mode
+    W_DISPLAY_MODE: 0x08,//Write display mode
+
+    R_BRIGHTNESS: 0x0,//Read brightness
+    W_BRIGHTNESS: 0x0,//Write brightness
+
+    W_TOGGLE_IMU: 0x19,
    W_CANCEL_ACTIVATION: 0x19,

    // R_IS_NEED_UPGRADE_DSP_FW: 0x49,//Check whether the DSP needs to be upgraded.
@ -111,7 +99,7 @@ export const MESSAGES = {
    W_UPDATE_MCU_APP_FW_FINISH: 0x41,	//(Implemented in Boot)
    W_BOOT_JUMP_TO_APP: 0x42,	//(Implemented in Boot)
    W_MCU_APP_JUMP_TO_BOOT: 0x44,
-    R_DP7911_FW_IS_UPDATE:0x3C,
+    R_DP7911_FW_IS_UPDATE: 0x3C,
    W_UPDATE_DP: 0x3D,


@ -133,7 +121,7 @@ export const MESSAGES = {
    P_UKNOWN_HEARTBEAT_2: 0x6c12
 };

-export function keyForHex(hex){
+export function keyForHex(hex) {
    for (let key in MESSAGES) {
        if (MESSAGES[key] == hex) {
            return key;
@ -143,15 +131,15 @@ export function keyForHex(hex){
 }


-export function listKnownCommands(){
+export function listKnownCommands() {
    let data = [];
-    Object.keys(MESSAGES).map((key)=>{
-        
+    Object.keys(MESSAGES).map((key) => {
+

        data.push({
            key,
-            hex:'0x'+MESSAGES[key].toString(16),
-            dec:MESSAGES[key]
+            hex: '0x' + MESSAGES[key].toString(16),
+            dec: MESSAGES[key]
        })
    })

@ -278,7 +266,7 @@ function get_status_byte(response) {
 window.unparsed = [];

 // 4-bytes to 32-bit float
-function four_bytes_to_float(byte_array){
+function four_bytes_to_float(byte_array) {
    var data = byte_array; // [64, 226, 157, 10];

    // Create a buffer
@ -306,11 +294,11 @@ export function parse_rsp(rsp) {
        payload: new Uint8Array()
    };

-    if(rsp[0] !== HEAD){
+    if (rsp[0] !== HEAD) {
        // console.warn('HEAD mismatch', rsp[0]);
        // console.warn([...rsp].map(x => x.toString(16).padStart(2,'0')).join(' '));
-        if(window.unparsed.length<1000){
-            window.unparsed.push([...rsp].map(x => x.toString(16).padStart(2,'0')).join(','))
+        if (window.unparsed.length < 1000) {
+            window.unparsed.push([...rsp].map(x => x.toString(16).padStart(2, '0')).join(','))

            // extract 16 32-bit,4-byte floats from 64 bytes
            // NOPE
@ -408,9 +396,9 @@ export function brightBytes2Int(bright_byte_arr) {
 export function bytes2Time(bytes) {
    let time = '';
    for (let i = bytes.byteLength - 1; i >= 0; i--) {
-        if(i > 3){
+        if (i > 3) {
            time += bytes[i].toString(2)
-        }else{
+        } else {
            time += bytes[i].toString(2)
            // time += bytes[i] << (i * 8);
        }
@ -418,18 +406,18 @@ export function bytes2Time(bytes) {
    return time;
 };

-export function hex2Decimal(byte){
+export function hex2Decimal(byte) {
    return parseInt(byte, 16);
 }

-export function time2Bytes(timeStamp){
+export function time2Bytes(timeStamp) {
    let arr = new Uint8Array(8)
    let len = Math.floor((Number(timeStamp).toString(2).length) / 8)
-    let longN = parseInt(Number(timeStamp).toString(2).substring(0,Number(timeStamp).toString(2).length - 32), 2)
+    let longN = parseInt(Number(timeStamp).toString(2).substring(0, Number(timeStamp).toString(2).length - 32), 2)
    for (let i = len; i >= 0; i--) {
-        if(i > 3){
+        if (i > 3) {
            arr[i] = ((longN >>> ((i - 4) * 8)) & 0xFF);
-        }else{
+        } else {
            arr[i] = ((timeStamp >>> (i * 8)) & 0xFF);
        }
    }
Author	SHA1	Message	Date
jake downs	e0cd593338	listEndpoints etc	2024-02-18 20:25:30 -05:00
jake downs	33f8f61a14	display mode	2024-02-15 13:14:54 -05:00
jake downs	a6a714f92b	Merge branch 'main' into imu-kickoff	2024-02-13 16:36:30 -05:00
jake downs	bdcf723ae9	update readme	2024-02-13 16:36:09 -05:00
jake downs	424403e130	Merge branch 'main' into imu-kickoff	2024-02-09 17:06:50 -05:00
jake downs	cc725fe357	copy/paste	2024-02-09 17:06:40 -05:00
jake downs	e11cc6b0b0	Merge branch 'imu-kickoff' of github.com:jakedowns/xreal-webxr into imu-kickoff # Conflicts: # js_air/glasses.js	2024-02-09 16:03:41 -05:00
jake downs	f204abebe3	mode switch	2024-02-08 22:08:00 -05:00
jake downs	b0c27a160b	stubbing polling	2024-02-08 21:54:48 -05:00