// Copyright 2023, Jan Schmidt // Copyright 2024, Joel Valenciano // Copyright 2025, Beyley Cardellio // SPDX-License-Identifier: BSL-1.0 /*! * @file * @brief PSVR2 HMD protocol defines * * @author Jan Schmidt * @author Joel Valenciano * @author Beyley Cardellio * @ingroup drv_psvr2 */ #pragma once #define PSVR2_SLAM_INTERFACE 3 #define PSVR2_SLAM_ENDPOINT 3 #define PSVR2_GAZE_INTERFACE 5 #define PSVR2_GAZE_ENDPOINT 0x85 #define PSVR2_CAMERA_INTERFACE 6 #define PSVR2_CAMERA_ENDPOINT 7 #define PSVR2_STATUS_INTERFACE 7 #define PSVR2_STATUS_ENDPOINT 8 #define PSVR2_LD_INTERFACE 8 #define PSVR2_LD_ENDPOINT 9 #define PSVR2_RP_INTERFACE 9 #define PSVR2_RP_ENDPOINT 10 #define PSVR2_VD_INTERFACE 10 #define PSVR2_VD_ENDPOINT 11 #define USB_SLAM_XFER_SIZE 1024 #define USB_STATUS_XFER_SIZE 1024 #define USB_GAZE_XFER_SIZE 32768 #define USB_CAM_MODE10_XFER_SIZE 1040640 #define USB_CAM_MODE1_XFER_SIZE 819456 #define USB_LD_XFER_SIZE 36944 #define USB_RP_XFER_SIZE 821120 #define USB_VD_XFER_SIZE 32768 #define GYRO_SCALE (2000.0 / 32767.0) #define ACCEL_SCALE (4.0 * MATH_GRAVITY_M_S2 / 32767.0) #define IMU_FREQ 2000.0f #define IMU_PERIOD_NS ((time_duration_ns)(1000000000.0f / IMU_FREQ)) enum psvr2_report_id { PSVR2_REPORT_ID_SET_PERIPHERAL = 0x8, PSVR2_REPORT_ID_SET_CAMERA_MODE = 0xB, PSVR2_REPORT_ID_SET_GAZE_STREAM = 0xC, PSVR2_REPORT_ID_SET_GAZE_USER_CALIBRATION = 0xD, PSVR2_REPORT_ID_SET_BRIGHTNESS = 0x12, }; enum psvr2_gaze_stream_subcommand { PSVR2_GAZE_STREAM_SUBCMD_ENABLE = 0x01, PSVR2_GAZE_STREAM_SUBCMD_DISABLE = 0x02, }; enum psvr2_set_peripheral_subcommand { PSVR2_SET_PERIPHERAL_SUBCMD_MOTOR = 0x01, }; enum psvr2_camera_mode { PSVR2_CAMERA_MODE_OFF = 0, // 819456 byte 640x640x2 SBS bottom cameras PSVR2_CAMERA_MODE_BOTTOM_SBS_CROPPED = 1, // 819456 byte 640x640x2 SBS (mode 1) + 409856 byte 640x640 frames (from top cameras alternately) interleaved PSVR2_CAMERA_MODE_2 = 2, // 819456 byte 640x640x2 SBS interleaved bottom and top camera paired images PSVR2_CAMERA_MODE_3 = 3, // 520448 byte 512x508x2 Top-Bottom fisheye, *Controller Tracking* interleaved top and bottom camera pairs PSVR2_CAMERA_MODE_4 = 4, // 80256 byte 400x200 nearly black (no value higher than 0x0f) PSVR2_CAMERA_MODE_400_200_DARK = 5, // no packets / off PSVR2_CAMERA_MODE_EYE_CAMERAS = 6, // 819456 byte 640x640x2 + 520448 byte 512x508x2 fisheye *Controller Tracking* alternating bottom camera PSVR2_CAMERA_MODE_7 = 7, // 819456 byte 640x640x2 SBS bottom cameras + 80256 byte 400x200 nearly black packets like mode 5 PSVR2_CAMERA_MODE_8 = 8, // interleaved mode 2 + mode 5 packets PSVR2_CAMERA_MODE_9 = 9, // 640x640x2 SBS interleaved bottom and top cameras + 80256 byte mode 5 packets PSVR2_CAMERA_MODE_10 = 0xa, // Mode 4 + Mode 5 packets interleaved PSVR2_CAMERA_MODE_11 = 0xb, // 409856 byte 320x640x4 vertical stack of all 4 cameras + 260352 byte 256x254x4 vertical stack fisheye // controller-tracking all-4-cameras packets interleaved PSVR2_CAMERA_MODE_12 = 0xc, // mode 1, but upside down PSVR2_CAMERA_MODE_13 = 0xd, // mode 1 upside down + mode 4 bottom cameras only PSVR2_CAMERA_MODE_14 = 0xe, // mode 0xc + mode 5 PSVR2_CAMERA_MODE_15 = 0xf, // 1024x1024x2 BC4 compressed images (really 1000x1000, with 24 padding pixels you can ignore on the // right/bottom) PSVR2_CAMERA_MODE_BOTTOM_SBS_BC4 = 0x10, }; #pragma pack(push, 1) struct imu_usb_record { __le32 vts_us; __le16 accel[3]; __le16 gyro[3]; __le16 dp_frame_cnt; __le16 dp_line_cnt; __le16 imu_ts_us; __le16 status; }; struct status_record_hdr { uint8_t dprx_status; //< 0 = not ready. 2 = cinematic? and 1 = unknown. HDCP? Other? uint8_t prox_sensor_flag; //< 0 = not triggered. 1 = triggered? uint8_t function_button; //< 0 = not pressed, 1 = pressed uint8_t empty0[2]; uint8_t ipd_dial_mm; //< 59 to 72mm uint8_t remainder[26]; }; struct slam_usb_record { char SLAhdr[3]; //< "SLA" uint8_t const1; //< Constant 0x01? __le32 pkt_size; //< 0x0200 = 512 bytes; __le32 vts_ts_us; //< Timestamp __le32 unknown1; //< Unknown. Constant 3? __lef32 pos[3]; //< 32-bit floats __lef32 orient[4]; //< Orientation quaternion uint8_t remainder[468]; }; struct sie_ctrl_pkt { __le16 report_id; __le16 subcmd; __le32 len; uint8_t data[512 - 8]; }; typedef uint32_t psvr2_eye_bool; struct pkt_eye_gaze { psvr2_eye_bool gaze_point_mm_valid; struct __levec3 gaze_point_mm; psvr2_eye_bool gaze_direction_valid; struct __levec3 gaze_direction; psvr2_eye_bool pupil_diameter_valid; __lef32 pupil_diameter_mm; psvr2_eye_bool unk_bool_2; struct __levec2 unk_float_2; psvr2_eye_bool unk_bool_3; struct __levec2 unk_float_4; psvr2_eye_bool blink_valid; psvr2_eye_bool blink; }; struct pkt_gaze_combined { psvr2_eye_bool gaze_point_valid; struct __levec3 gaze_point_3d; // unclear what this denotes precisely psvr2_eye_bool normalized_gaze_valid; struct __levec3 normalized_gaze; psvr2_eye_bool is_valid; __le32 timestamp; psvr2_eye_bool unk_bool_7; __lef32 unk_float_8; psvr2_eye_bool unk_bool_9; struct __levec3 unk_float_12; struct __levec3 unk_float_15; struct __levec3 unk_float_18; }; struct pkt_gaze_packet_data { __le32 size; __le32 unk_1; __le32 unk_2; __le32 unk_3_const; __le32 timestamp_1; __le32 timestamp_2; __le32 timestamp_3; // unknown garbage psvr2_eye_bool unk_bool_1; __lef32 unk_float_1; psvr2_eye_bool unk_bool_2; psvr2_eye_bool unk_bool_3; __lef32 unk_float_2; psvr2_eye_bool unk_bool_4; psvr2_eye_bool unk_bool_5; psvr2_eye_bool unk_bool_6; psvr2_eye_bool unk_bool_7; psvr2_eye_bool unk_bool_8; __lef32 unk_float_3; // openness? psvr2_eye_bool unk_bool_9; __lef32 unk_float_4; psvr2_eye_bool unk_bool_10; __lef32 unk_float_5; struct pkt_eye_gaze left; struct pkt_eye_gaze right; struct pkt_gaze_combined combined; }; struct pkt_gaze_state { uint8_t header[2]; // 0000 __le16 version; // 0002 struct pkt_gaze_packet_data packet_data; }; struct pkt_firmware_info { __le32 version; __le32 reserved_0; uint8_t commit_hash[40]; __le32 unknown_0; __le32 unknown_1; char pcb_id[16]; __le32 unknown_2; __le32 reserved_1; __le32 recovery_version; }; #pragma pack(pop)