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Added microsecond timestamp to sensor values for PS4 and PS5 controllers using the HIDAPI driver

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This commit is contained in:
Sam Lantinga
2022-09-27 09:56:02 -07:00
parent d71df6448b
commit 2c518747b9
26 changed files with 204 additions and 63 deletions
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67
src/joystick/hidapi/SDL_hidapi_ps5.c
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@@ -94,6 +94,7 @@ typedef struct
Uint8 rgucAccelX[2]; /* 21 */
Uint8 rgucAccelY[2]; /* 23 */
Uint8 rgucAccelZ[2]; /* 25 */
Uint8 rgucSensorTimestamp[4]; /* 27 - 32 bit little endian */
} PS5StatePacketCommon_t;
@@ -114,8 +115,8 @@ typedef struct
Uint8 rgucAccelX[2]; /* 21 */
Uint8 rgucAccelY[2]; /* 23 */
Uint8 rgucAccelZ[2]; /* 25 */
Uint8 rgucTimer1[4]; /* 27 - 32 bit little endian */
Uint8 ucBatteryTemp; /* 31 */
Uint8 rgucSensorTimestamp[4]; /* 27 - 32 bit little endian */
Uint8 ucSensorTemp; /* 31 */
Uint8 ucTouchpadCounter1; /* 32 - high bit clear + counter */
Uint8 rgucTouchpadData1[3]; /* 33 - X/Y, 12 bits per axis */
Uint8 ucTouchpadCounter2; /* 36 - high bit clear + counter */
@@ -145,7 +146,7 @@ typedef struct
Uint8 rgucAccelX[2]; /* 21 */
Uint8 rgucAccelY[2]; /* 23 */
Uint8 rgucAccelZ[2]; /* 25 */
Uint8 rgucUnknown1[4]; /* 27 */
Uint8 rgucSensorTimestamp[4]; /* 27 - 32 bit little endian */
Uint8 ucTouchpadCounter1; /* 31 - high bit clear + counter */
Uint8 rgucTouchpadData1[3]; /* 32 - X/Y, 12 bits per axis */
Uint8 ucTouchpadCounter2; /* 35 - high bit clear + counter */
@@ -225,6 +226,8 @@ typedef struct {
Uint8 led_green;
Uint8 led_blue;
EDS5LEDResetState led_reset_state;
Uint32 last_timestamp;
Uint64 timestamp;
union
{
PS5SimpleStatePacket_t simple;
@@ -706,21 +709,21 @@ HIDAPI_DriverPS5_CheckPendingLEDReset(SDL_HIDAPI_Device *device)
SDL_DriverPS5_Context *ctx = (SDL_DriverPS5_Context *)device->context;
SDL_bool led_reset_complete = SDL_FALSE;
if (ctx->use_alternate_report) {
/* We don't know how to check the timer, just assume it's complete for now */
led_reset_complete = SDL_TRUE;
} else {
const PS5StatePacket_t *packet = &ctx->last_state.full_state;
if (ctx->sensors_supported) {
const PS5StatePacketCommon_t *packet = &ctx->last_state.state;
/* Check the timer to make sure the Bluetooth connection LED animation is complete */
const Uint32 connection_complete = 10200000;
Uint32 timer = ((Uint32)packet->rgucTimer1[0] << 0) |
((Uint32)packet->rgucTimer1[1] << 8) |
((Uint32)packet->rgucTimer1[2] << 16) |
((Uint32)packet->rgucTimer1[3] << 24);
if (SDL_TICKS_PASSED(timer, connection_complete)) {
Uint32 timestamp = LOAD32(packet->rgucSensorTimestamp[0],
packet->rgucSensorTimestamp[1],
packet->rgucSensorTimestamp[2],
packet->rgucSensorTimestamp[3]);
if (SDL_TICKS_PASSED(timestamp, connection_complete)) {
led_reset_complete = SDL_TRUE;
}
} else {
/* We don't know how to check the timer, just assume it's complete for now */
led_reset_complete = SDL_TRUE;
}
if (led_reset_complete) {
@@ -759,8 +762,14 @@ HIDAPI_DriverPS5_SetEnhancedMode(SDL_HIDAPI_Device *device, SDL_Joystick *joysti
ctx->report_touchpad = SDL_TRUE;
}
if (ctx->sensors_supported) {
SDL_PrivateJoystickAddSensor(joystick, SDL_SENSOR_GYRO, 250.0f);
SDL_PrivateJoystickAddSensor(joystick, SDL_SENSOR_ACCEL, 250.0f);
if (device->is_bluetooth) {
/* Bluetooth sensor update rate appears to be 1000 Hz */
SDL_PrivateJoystickAddSensor(joystick, SDL_SENSOR_GYRO, 1000.0f);
SDL_PrivateJoystickAddSensor(joystick, SDL_SENSOR_ACCEL, 1000.0f);
} else {
SDL_PrivateJoystickAddSensor(joystick, SDL_SENSOR_GYRO, 250.0f);
SDL_PrivateJoystickAddSensor(joystick, SDL_SENSOR_ACCEL, 250.0f);
}
}
/* Switch into enhanced report mode */
@@ -989,6 +998,7 @@ HIDAPI_DriverPS5_SetJoystickSensorsEnabled(SDL_HIDAPI_Device *device, SDL_Joysti
HIDAPI_DriverPS5_LoadCalibrationData(device);
}
ctx->report_sensors = enabled;
ctx->timestamp = 0;
return 0;
}
@@ -1180,17 +1190,40 @@ HIDAPI_DriverPS5_HandleStatePacketCommon(SDL_Joystick *joystick, SDL_hid_device
SDL_PrivateJoystickAxis(joystick, SDL_CONTROLLER_AXIS_RIGHTY, axis);
if (ctx->report_sensors) {
Uint32 timestamp;
Uint64 timestamp_us;
float data[3];
timestamp = LOAD32(packet->rgucSensorTimestamp[0],
packet->rgucSensorTimestamp[1],
packet->rgucSensorTimestamp[2],
packet->rgucSensorTimestamp[3]);
if (ctx->timestamp) {
Uint32 delta;
if (ctx->last_timestamp > timestamp) {
delta = (SDL_MAX_UINT32 - ctx->last_timestamp + timestamp + 1);
} else {
delta = (timestamp - ctx->last_timestamp);
}
ctx->timestamp += delta;
} else {
ctx->timestamp = timestamp;
}
ctx->last_timestamp = timestamp;
/* Sensor timestamp is in 0.33us units */
timestamp_us = ctx->timestamp / 3;
data[0] = HIDAPI_DriverPS5_ApplyCalibrationData(ctx, 0, LOAD16(packet->rgucGyroX[0], packet->rgucGyroX[1]));
data[1] = HIDAPI_DriverPS5_ApplyCalibrationData(ctx, 1, LOAD16(packet->rgucGyroY[0], packet->rgucGyroY[1]));
data[2] = HIDAPI_DriverPS5_ApplyCalibrationData(ctx, 2, LOAD16(packet->rgucGyroZ[0], packet->rgucGyroZ[1]));
SDL_PrivateJoystickSensor(joystick, SDL_SENSOR_GYRO, data, 3);
SDL_PrivateJoystickSensor(joystick, SDL_SENSOR_GYRO, timestamp_us, data, 3);
data[0] = HIDAPI_DriverPS5_ApplyCalibrationData(ctx, 3, LOAD16(packet->rgucAccelX[0], packet->rgucAccelX[1]));
data[1] = HIDAPI_DriverPS5_ApplyCalibrationData(ctx, 4, LOAD16(packet->rgucAccelY[0], packet->rgucAccelY[1]));
data[2] = HIDAPI_DriverPS5_ApplyCalibrationData(ctx, 5, LOAD16(packet->rgucAccelZ[0], packet->rgucAccelZ[1]));
SDL_PrivateJoystickSensor(joystick, SDL_SENSOR_ACCEL, data, 3);
SDL_PrivateJoystickSensor(joystick, SDL_SENSOR_ACCEL, timestamp_us, data, 3);
}
}