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SInput Timestamp and Protocol Version (#13371)

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* Implement Uint32 microseconds timestamp for IMU reporting instead of deltas
* Implement protocol version in feature request response
This commit is contained in:
mitchellcairns
2025-07-16 10:12:38 -07:00
committed by GitHub
parent 504107ad0e
commit 8e5fe0ea61
1 changed files with 63 additions and 42 deletions
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105
src/joystick/hidapi/SDL_hidapi_sinput.c
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@@ -70,18 +70,18 @@
#define SINPUT_REPORT_IDX_LEFT_TRIGGER 15
#define SINPUT_REPORT_IDX_RIGHT_TRIGGER 17
#define SINPUT_REPORT_IDX_IMU_TIMESTAMP 19
#define SINPUT_REPORT_IDX_IMU_ACCEL_X 21
#define SINPUT_REPORT_IDX_IMU_ACCEL_Y 23
#define SINPUT_REPORT_IDX_IMU_ACCEL_Z 25
#define SINPUT_REPORT_IDX_IMU_GYRO_X 27
#define SINPUT_REPORT_IDX_IMU_GYRO_Y 29
#define SINPUT_REPORT_IDX_IMU_GYRO_Z 31
#define SINPUT_REPORT_IDX_TOUCH1_X 33
#define SINPUT_REPORT_IDX_TOUCH1_Y 35
#define SINPUT_REPORT_IDX_TOUCH1_P 37
#define SINPUT_REPORT_IDX_TOUCH2_X 39
#define SINPUT_REPORT_IDX_TOUCH2_Y 41
#define SINPUT_REPORT_IDX_TOUCH2_P 43
#define SINPUT_REPORT_IDX_IMU_ACCEL_X 23
#define SINPUT_REPORT_IDX_IMU_ACCEL_Y 25
#define SINPUT_REPORT_IDX_IMU_ACCEL_Z 27
#define SINPUT_REPORT_IDX_IMU_GYRO_X 29
#define SINPUT_REPORT_IDX_IMU_GYRO_Y 31
#define SINPUT_REPORT_IDX_IMU_GYRO_Z 33
#define SINPUT_REPORT_IDX_TOUCH1_X 35
#define SINPUT_REPORT_IDX_TOUCH1_Y 37
#define SINPUT_REPORT_IDX_TOUCH1_P 39
#define SINPUT_REPORT_IDX_TOUCH2_X 41
#define SINPUT_REPORT_IDX_TOUCH2_Y 43
#define SINPUT_REPORT_IDX_TOUCH2_P 45
#define SINPUT_REPORT_IDX_COMMAND_RESPONSE_ID 1
#define SINPUT_REPORT_IDX_COMMAND_RESPONSE_BULK 2
@@ -99,6 +99,10 @@
#define EXTRACTUINT16(data, idx) ((Uint16)((data)[(idx)] | ((data)[(idx) + 1] << 8)))
#endif
#ifndef EXTRACTUINT32
#define EXTRACTUINT32(data, idx) ((Uint32)((data)[(idx)] | ((data)[(idx) + 1] << 8) | ((data)[(idx) + 2] << 16) | ((data)[(idx) + 3] << 24)))
#endif
typedef struct
{
@@ -142,6 +146,7 @@ typedef struct
typedef struct
{
SDL_HIDAPI_Device *device;
Uint16 protocol_version;
bool sensors_enabled;
Uint8 player_idx;
@@ -173,7 +178,9 @@ typedef struct
Uint8 buttons_count;
Uint8 usage_masks[4];
Uint64 imu_timestamp; // Nanoseconds. We accumulate with received deltas
Uint32 last_imu_timestamp_us;
Uint64 imu_timestamp_ns; // Nanoseconds. We accumulate with received deltas
} SDL_DriverSInput_Context;
// Converts raw int16_t gyro scale setting
@@ -192,51 +199,54 @@ static void ProcessSDLFeaturesResponse(SDL_HIDAPI_Device *device, Uint8 *data)
{
SDL_DriverSInput_Context *ctx = (SDL_DriverSInput_Context *)device->context;
// Obtain protocol version
ctx->protocol_version = EXTRACTUINT16(data, 0);
// Bitfields are not portable, so we unpack them into a struct value
ctx->rumble_supported = (data[0] & 0x01) != 0;
ctx->player_leds_supported = (data[0] & 0x02) != 0;
ctx->accelerometer_supported = (data[0] & 0x04) != 0;
ctx->gyroscope_supported = (data[0] & 0x08) != 0;
ctx->rumble_supported = (data[2] & 0x01) != 0;
ctx->player_leds_supported = (data[2] & 0x02) != 0;
ctx->accelerometer_supported = (data[2] & 0x04) != 0;
ctx->gyroscope_supported = (data[2] & 0x08) != 0;
ctx->left_analog_stick_supported = (data[0] & 0x10) != 0;
ctx->right_analog_stick_supported = (data[0] & 0x20) != 0;
ctx->left_analog_trigger_supported = (data[0] & 0x40) != 0;
ctx->right_analog_trigger_supported = (data[0] & 0x80) != 0;
ctx->left_analog_stick_supported = (data[2] & 0x10) != 0;
ctx->right_analog_stick_supported = (data[2] & 0x20) != 0;
ctx->left_analog_trigger_supported = (data[2] & 0x40) != 0;
ctx->right_analog_trigger_supported = (data[2] & 0x80) != 0;
ctx->touchpad_supported = (data[1] & 0x01) != 0;
ctx->joystick_rgb_supported = (data[1] & 0x02) != 0;
ctx->touchpad_supported = (data[3] & 0x01) != 0;
ctx->joystick_rgb_supported = (data[3] & 0x02) != 0;
SDL_GamepadType type = SDL_GAMEPAD_TYPE_UNKNOWN;
type = (SDL_GamepadType)SDL_clamp(data[2], SDL_GAMEPAD_TYPE_UNKNOWN, SDL_GAMEPAD_TYPE_COUNT);
type = (SDL_GamepadType)SDL_clamp(data[4], SDL_GAMEPAD_TYPE_UNKNOWN, SDL_GAMEPAD_TYPE_COUNT);
device->type = type;
// The 4 MSB represent a button layout style SDL_GamepadFaceStyle
// The 4 LSB represent a device sub-type
device->guid.data[15] = data[3];
device->guid.data[15] = data[5];
#if defined(DEBUG_SINPUT_INIT)
SDL_Log("SInput Face Style: %d", (data[3] & 0xF0) >> 4);
SDL_Log("SInput Sub-type: %d", (data[3] & 0xF));
SDL_Log("SInput Face Style: %d", (data[5] & 0xF0) >> 4);
SDL_Log("SInput Sub-type: %d", (data[5] & 0xF));
#endif
ctx->polling_rate_ms = data[4];
ctx->polling_rate_ms = data[6];
ctx->accelRange = EXTRACTUINT16(data, 6);
ctx->gyroRange = EXTRACTUINT16(data, 8);
ctx->accelRange = EXTRACTUINT16(data, 8);
ctx->gyroRange = EXTRACTUINT16(data, 10);
// Masks in LSB to MSB
// South, East, West, North, DUp, DDown, DLeft, DRight
ctx->usage_masks[0] = data[10];
ctx->usage_masks[0] = data[12];
// Stick Left, Stick Right, L Shoulder, R Shoulder,
// L Trigger, R Trigger, L Paddle 1, R Paddle 1
ctx->usage_masks[1] = data[11];
ctx->usage_masks[1] = data[13];
// Start, Back, Guide, Capture, L Paddle 2, R Paddle 2, Touchpad L, Touchpad R
ctx->usage_masks[2] = data[12];
ctx->usage_masks[2] = data[14];
// Power, Misc 4 to 10
ctx->usage_masks[3] = data[13];
ctx->usage_masks[3] = data[15];
// Derive button count from mask
for (Uint8 byte = 0; byte < 4; ++byte) {
@@ -252,8 +262,8 @@ static void ProcessSDLFeaturesResponse(SDL_HIDAPI_Device *device, Uint8 *data)
#endif
// Get and validate touchpad parameters
ctx->touchpad_count = data[14];
ctx->touchpad_finger_count = data[15];
ctx->touchpad_count = data[16];
ctx->touchpad_finger_count = data[17];
#if defined(DEBUG_SINPUT_INIT)
SDL_Log("Accelerometer Range: %d", ctx->accelRange);
@@ -664,13 +674,24 @@ static void HIDAPI_DriverSInput_HandleStatePacket(SDL_Joystick *joystick, SDL_Dr
}
// Extract the IMU timestamp delta (in microseconds)
Uint16 imu_timestamp_delta = EXTRACTUINT16(data, SINPUT_REPORT_IDX_IMU_TIMESTAMP);
Uint32 imu_timestamp_us = EXTRACTUINT32(data, SINPUT_REPORT_IDX_IMU_TIMESTAMP);
Uint32 imu_time_delta_us = 0;
// Check if we should process IMU data and if sensors are enabled
if ((imu_timestamp_delta > 0) && (ctx->sensors_enabled)) {
if (ctx->sensors_enabled) {
// Process IMU timestamp by adding the delta to the accumulated timestamp and converting to nanoseconds
ctx->imu_timestamp += ((Uint64) imu_timestamp_delta * 1000);
if (imu_timestamp_us >= ctx->last_imu_timestamp_us) {
imu_time_delta_us = (imu_timestamp_us - ctx->last_imu_timestamp_us);
} else {
// Handle rollover case
imu_time_delta_us = (UINT32_MAX - ctx->last_imu_timestamp_us) + imu_timestamp_us + 1;
}
// Convert delta to nanoseconds and update running timestamp
ctx->imu_timestamp_ns += (Uint64)imu_time_delta_us * 1000;
// Update last timestamp
ctx->last_imu_timestamp_us = imu_timestamp_us;
// Process Accelerometer
if (ctx->accelerometer_supported) {
@@ -684,7 +705,7 @@ static void HIDAPI_DriverSInput_HandleStatePacket(SDL_Joystick *joystick, SDL_Dr
accel = EXTRACTSINT16(data, SINPUT_REPORT_IDX_IMU_ACCEL_X);
imu_values[0] = -(float)accel * ctx->accelScale; // X-axis acceleration
SDL_SendJoystickSensor(timestamp, joystick, SDL_SENSOR_ACCEL, ctx->imu_timestamp, imu_values, 3);
SDL_SendJoystickSensor(timestamp, joystick, SDL_SENSOR_ACCEL, ctx->imu_timestamp_ns, imu_values, 3);
}
// Process Gyroscope
@@ -699,7 +720,7 @@ static void HIDAPI_DriverSInput_HandleStatePacket(SDL_Joystick *joystick, SDL_Dr
gyro = EXTRACTSINT16(data, SINPUT_REPORT_IDX_IMU_GYRO_X);
imu_values[0] = -(float)gyro * ctx->gyroScale; // X-axis rotation
SDL_SendJoystickSensor(timestamp, joystick, SDL_SENSOR_GYRO, ctx->imu_timestamp, imu_values, 3);
SDL_SendJoystickSensor(timestamp, joystick, SDL_SENSOR_GYRO, ctx->imu_timestamp_ns, imu_values, 3);
}
}