vive.h File Reference

#include <libusb-1.0/libusb.h>
#include <unistd.h>
#include <stdio.h>
#include <stdlib.h>
#include <stdint.h>
#include <string.h>

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Classes
struct	Endpoint
struct	Calibration
struct	OOTX
struct	LightcapSweepData
struct	PerSweepData
struct	GlobalData
struct	LightcapData
struct	Tracker
struct	Motor
struct	Lighthouse
struct	General
struct	Light
struct	IMU
struct	Button
struct	Driver

Macros
#define	MAX_PACKET_LEN   64
#define	PREAMBLE_LENGTH   17
#define	MAX_NUM_LIGHTHOUSES   2
#define	MAX_NUM_TRACKERS   128
#define	MAX_NUM_SENSORS   32
#define	MAX_SERIAL_LENGTH   32
#define	USB_INT_BUFF_LENGTH   64
#define	USB_VEND_HTC   0x28de
#define	USB_PROD_TRACKER_V1   0x2022
#define	USB_PROD_TRACKER_V2   0x2300
#define	USB_PROD_CONTROLLER_V1   0x2012
#define	USB_PROD_WATCHMAN   0x2101
#define	USB_ENDPOINT_WATCHMAN   0x81
#define	USB_ENDPOINT_V1_GENERAL   0x81
#define	USB_ENDPOINT_V1_LIGHT   0x82
#define	USB_ENDPOINT_V1_BUTTONS   0x83
#define	USB_ENDPOINT_V2_GENERAL   0x81
#define	USB_ENDPOINT_V2_LIGHT   0x83
#define	USB_ENDPOINT_V2_BUTTONS   0x84
#define	MAX_ENDPOINTS   3
#define	DEFAULT_ACC_SCALE   (float)(9.80665/4096.0)
#define	DEFAULT_GYR_SCALE   (float)((1./32.768)*(3.14159/180.));
#define	DEBUG_PRINTF(f_, ...)

Typedefs
typedef struct Driver	driver_t
typedef struct Tracker	tracker_t
typedef struct Lighthouse	lighthouse_t
typedef enum Data	data_t
typedef enum Event	event_t
typedef struct Endpoint	endpoint_t
typedef struct Calibration	calibration_t
typedef struct OOTX	ootx_t
typedef struct LightcapSweepData	lightcap_sweep_data_t
typedef struct PerSweepData	per_sweep_data_t
typedef struct GlobalData	global_data_t
typedef struct LightcapData	lightcap_data_t
typedef enum Axis	axis_t
typedef struct Motor	motor_t
typedef struct General	general_t
typedef struct Light	light_t
typedef struct IMU	imu_t
typedef struct Button	button_t
typedef void(*	light_cb_t) (tracker_t const *tracker, uint8_t lh, uint8_t axis, uint32_t synctime, uint16_t num_sensors, light_t const *measurement)
typedef void(*	imu_cb_t) (tracker_t const *tracker, imu_t const *measurement)
typedef void(*	button_cb_t) (tracker_t const *tracker, button_t const *measurement)
typedef void(*	tracker_cb_t) (tracker_t const *tracker)
typedef void(*	lighthouse_cb_t) (lighthouse_t const *lighthouse)

Enumerations
enum	Data {   DATA_IMU, DATA_LIGHT_7, DATA_LIGHT_9, DATA_BUTTONS,   DATA_WATCHMAN }
enum	Event {   EVENT_TRIGGER = (1<<8), EVENT_GRIP = (1<<10), EVENT_MENU = (1<<20), EVENT_PAD_CLICK = (1<<26),   EVENT_PAD_TOUCH = (1<<28) }
enum	state_t { PREAMBLE, LENGTH, PAYLOAD, CHECKSUM }
enum	Axis { MOTOR_AXIS0, MOTOR_AXIS1, MAX_NUM_MOTORS }

Functions
driver_t *	vive_init ()
void	vive_install_light_fn (driver_t *drv, light_cb_t fbp)
void	vive_install_imu_fn (driver_t *drv, imu_cb_t fbp)
void	vive_install_button_fn (driver_t *drv, button_cb_t fbp)
void	vive_install_tracker_fn (driver_t *drv, tracker_cb_t fbp)
void	vive_install_lighthouse_fn (driver_t *drv, lighthouse_cb_t fbp)
general_t *	vive_general (driver_t *drv)
lighthouse_t *	vive_lighthouse (driver_t *drv, const char *id)
tracker_t *	vive_tracker (driver_t *tracker, const char *id)
uint8_t	vive_poll (driver_t *drv)
void	vive_kill (driver_t *drv)

Macro Definition Documentation

DEBUG_PRINTF

#define DEBUG_PRINTF	(		f_,
			...
	)

DEFAULT_ACC_SCALE

#define DEFAULT_ACC_SCALE   (float)(9.80665/4096.0)

DEFAULT_GYR_SCALE

#define DEFAULT_GYR_SCALE   (float)((1./32.768)*(3.14159/180.));

MAX_ENDPOINTS

#define MAX_ENDPOINTS   3

MAX_NUM_LIGHTHOUSES

#define MAX_NUM_LIGHTHOUSES   2

MAX_NUM_SENSORS

#define MAX_NUM_SENSORS   32

MAX_NUM_TRACKERS

#define MAX_NUM_TRACKERS   128

MAX_PACKET_LEN

#define MAX_PACKET_LEN   64

MAX_SERIAL_LENGTH

#define MAX_SERIAL_LENGTH   32

PREAMBLE_LENGTH

#define PREAMBLE_LENGTH   17

USB_ENDPOINT_V1_BUTTONS

#define USB_ENDPOINT_V1_BUTTONS   0x83

USB_ENDPOINT_V1_GENERAL

#define USB_ENDPOINT_V1_GENERAL   0x81

USB_ENDPOINT_V1_LIGHT

#define USB_ENDPOINT_V1_LIGHT   0x82

USB_ENDPOINT_V2_BUTTONS

#define USB_ENDPOINT_V2_BUTTONS   0x84

USB_ENDPOINT_V2_GENERAL

#define USB_ENDPOINT_V2_GENERAL   0x81

USB_ENDPOINT_V2_LIGHT

#define USB_ENDPOINT_V2_LIGHT   0x83

USB_ENDPOINT_WATCHMAN

#define USB_ENDPOINT_WATCHMAN   0x81

USB_INT_BUFF_LENGTH

#define USB_INT_BUFF_LENGTH   64

USB_PROD_CONTROLLER_V1

#define USB_PROD_CONTROLLER_V1   0x2012

USB_PROD_TRACKER_V1

#define USB_PROD_TRACKER_V1   0x2022

USB_PROD_TRACKER_V2

#define USB_PROD_TRACKER_V2   0x2300

USB_PROD_WATCHMAN

#define USB_PROD_WATCHMAN   0x2101

USB_VEND_HTC

#define USB_VEND_HTC   0x28de

Typedef Documentation

axis_t

typedef enum Axis axis_t

button_cb_t

typedef void(* button_cb_t) (tracker_t const *tracker, button_t const *measurement)

button_t

typedef struct Button button_t

calibration_t

typedef struct Calibration calibration_t

data_t

typedef enum Data data_t

driver_t

typedef struct Driver driver_t

endpoint_t

typedef struct Endpoint endpoint_t

event_t

typedef enum Event event_t

general_t

typedef struct General general_t

global_data_t

typedef struct GlobalData global_data_t

imu_cb_t

typedef void(* imu_cb_t) (tracker_t const *tracker, imu_t const *measurement)

imu_t

typedef struct IMU imu_t

light_cb_t

typedef void(* light_cb_t) (tracker_t const *tracker, uint8_t lh, uint8_t axis, uint32_t synctime, uint16_t num_sensors, light_t const *measurement)

light_t

typedef struct Light light_t

lightcap_data_t

typedef struct LightcapData lightcap_data_t

lightcap_sweep_data_t

typedef struct LightcapSweepData lightcap_sweep_data_t

lighthouse_cb_t

typedef void(* lighthouse_cb_t) (lighthouse_t const *lighthouse)

lighthouse_t

typedef struct Lighthouse lighthouse_t

motor_t

typedef struct Motor motor_t

ootx_t

typedef struct OOTX ootx_t

per_sweep_data_t

typedef struct PerSweepData per_sweep_data_t

tracker_cb_t

typedef void(* tracker_cb_t) (tracker_t const *tracker)

tracker_t

typedef struct Tracker tracker_t

Enumeration Type Documentation

Axis

enum Axis

Enumerator
MOTOR_AXIS0
MOTOR_AXIS1
MAX_NUM_MOTORS

Data

enum Data

Enumerator
DATA_IMU
DATA_LIGHT_7
DATA_LIGHT_9
DATA_BUTTONS
DATA_WATCHMAN

Event

enum Event

Enumerator
EVENT_TRIGGER
EVENT_GRIP
EVENT_MENU
EVENT_PAD_CLICK
EVENT_PAD_TOUCH

state_t

enum state_t

Enumerator
PREAMBLE
LENGTH
PAYLOAD
CHECKSUM

Function Documentation

vive_general()

general_t* vive_general

(

driver_t *

drv

)

vive_init()

driver_t* vive_init

(

)

vive_install_button_fn()

void vive_install_button_fn	(	driver_t *	drv,
		button_cb_t	fbp
	)

vive_install_imu_fn()

void vive_install_imu_fn	(	driver_t *	drv,
		imu_cb_t	fbp
	)

vive_install_light_fn()

void vive_install_light_fn	(	driver_t *	drv,
		light_cb_t	fbp
	)

vive_install_lighthouse_fn()

void vive_install_lighthouse_fn	(	driver_t *	drv,
		lighthouse_cb_t	fbp
	)

vive_install_tracker_fn()

void vive_install_tracker_fn	(	driver_t *	drv,
		tracker_cb_t	fbp
	)

vive_kill()

void vive_kill

(

driver_t *

drv

)

vive_lighthouse()

lighthouse_t* vive_lighthouse	(	driver_t *	drv,
		const char *	id
	)

vive_poll()

uint8_t vive_poll

(

driver_t *

drv

)

vive_tracker()

tracker_t* vive_tracker	(	driver_t *	tracker,
		const char *	id
	)