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The timestamp_us member of the sensor events has been renamed sensor_timestamp and now represents nanoseconds.

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This commit is contained in:
Sam Lantinga
2022-12-04 08:31:19 -08:00
parent 73f4aeee6a
commit b8760a3ffe
26 changed files with 134 additions and 128 deletions
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2
src/joystick/hidapi/SDL_hidapi_ps3.c
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@@ -466,7 +466,7 @@ static void HIDAPI_DriverPS3_HandleStatePacket(SDL_Joystick *joystick, SDL_Drive
sensor_data[0] = HIDAPI_DriverPS3_ScaleAccel(LOAD16(data[41], data[42]));
sensor_data[1] = -HIDAPI_DriverPS3_ScaleAccel(LOAD16(data[45], data[46]));
sensor_data[2] = -HIDAPI_DriverPS3_ScaleAccel(LOAD16(data[43], data[44]));
SDL_PrivateJoystickSensor(timestamp, joystick, SDL_SENSOR_ACCEL, 0, sensor_data, SDL_arraysize(sensor_data));
SDL_PrivateJoystickSensor(timestamp, joystick, SDL_SENSOR_ACCEL, timestamp, sensor_data, SDL_arraysize(sensor_data));
}
SDL_memcpy(ctx->last_state, data, SDL_min(size, sizeof(ctx->last_state)));

34
src/joystick/hidapi/SDL_hidapi_ps4.c
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@@ -145,8 +145,8 @@ typedef struct
Uint8 led_red;
Uint8 led_green;
Uint8 led_blue;
Uint16 last_timestamp;
Uint64 timestamp;
Uint64 sensor_ticks;
Uint16 last_tick;
PS4StatePacket_t last_state;
} SDL_DriverPS4_Context;
@@ -807,7 +807,6 @@ static int HIDAPI_DriverPS4_SetJoystickSensorsEnabled(SDL_HIDAPI_Device *device,
HIDAPI_DriverPS4_LoadCalibrationData(device);
}
ctx->report_sensors = enabled;
ctx->timestamp = 0;
return 0;
}
@@ -947,37 +946,32 @@ static void HIDAPI_DriverPS4_HandleStatePacket(SDL_Joystick *joystick, SDL_hid_d
}
if (ctx->report_sensors) {
Uint16 timestamp;
Uint64 timestamp_us;
Uint16 tick;
Uint16 delta;
Uint64 sensor_timestamp;
float data[3];
timestamp = LOAD16(packet->rgucTimestamp[0], packet->rgucTimestamp[1]);
if (ctx->timestamp) {
Uint16 delta;
if (ctx->last_timestamp > timestamp) {
delta = (SDL_MAX_UINT16 - ctx->last_timestamp + timestamp + 1);
} else {
delta = (timestamp - ctx->last_timestamp);
}
ctx->timestamp += delta;
tick = LOAD16(packet->rgucTimestamp[0], packet->rgucTimestamp[1]);
if (ctx->last_tick < tick) {
delta = (tick - ctx->last_tick);
} else {
ctx->timestamp = timestamp;
delta = (SDL_MAX_UINT16 - ctx->last_tick + tick + 1);
}
ctx->last_timestamp = timestamp;
ctx->sensor_ticks += delta;
ctx->last_tick = tick;
/* Sensor timestamp is in 5.33us units */
timestamp_us = (ctx->timestamp * 16) / 3;
sensor_timestamp = (ctx->sensor_ticks * SDL_NS_PER_US * 16) / 3;
data[0] = HIDAPI_DriverPS4_ApplyCalibrationData(ctx, 0, LOAD16(packet->rgucGyroX[0], packet->rgucGyroX[1]));
data[1] = HIDAPI_DriverPS4_ApplyCalibrationData(ctx, 1, LOAD16(packet->rgucGyroY[0], packet->rgucGyroY[1]));
data[2] = HIDAPI_DriverPS4_ApplyCalibrationData(ctx, 2, LOAD16(packet->rgucGyroZ[0], packet->rgucGyroZ[1]));
SDL_PrivateJoystickSensor(timestamp, joystick, SDL_SENSOR_GYRO, timestamp_us, data, 3);
SDL_PrivateJoystickSensor(timestamp, joystick, SDL_SENSOR_GYRO, sensor_timestamp, data, 3);
data[0] = HIDAPI_DriverPS4_ApplyCalibrationData(ctx, 3, LOAD16(packet->rgucAccelX[0], packet->rgucAccelX[1]));
data[1] = HIDAPI_DriverPS4_ApplyCalibrationData(ctx, 4, LOAD16(packet->rgucAccelY[0], packet->rgucAccelY[1]));
data[2] = HIDAPI_DriverPS4_ApplyCalibrationData(ctx, 5, LOAD16(packet->rgucAccelZ[0], packet->rgucAccelZ[1]));
SDL_PrivateJoystickSensor(timestamp, joystick, SDL_SENSOR_ACCEL, timestamp_us, data, 3);
SDL_PrivateJoystickSensor(timestamp, joystick, SDL_SENSOR_ACCEL, sensor_timestamp, data, 3);
}
SDL_memcpy(&ctx->last_state, packet, sizeof(ctx->last_state));

40
src/joystick/hidapi/SDL_hidapi_ps5.c
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@@ -225,8 +225,8 @@ typedef struct
Uint8 led_green;
Uint8 led_blue;
EDS5LEDResetState led_reset_state;
Uint32 last_timestamp;
Uint64 timestamp;
Uint64 sensor_ticks;
Uint32 last_tick;
union
{
PS5SimpleStatePacket_t simple;
@@ -975,7 +975,6 @@ static int HIDAPI_DriverPS5_SetJoystickSensorsEnabled(SDL_HIDAPI_Device *device,
HIDAPI_DriverPS5_LoadCalibrationData(device);
}
ctx->report_sensors = enabled;
ctx->timestamp = 0;
return 0;
}
@@ -1167,40 +1166,35 @@ static void HIDAPI_DriverPS5_HandleStatePacketCommon(SDL_Joystick *joystick, SDL
SDL_PrivateJoystickAxis(timestamp, joystick, SDL_CONTROLLER_AXIS_RIGHTY, axis);
if (ctx->report_sensors) {
Uint32 timestamp;
Uint64 timestamp_us;
Uint32 tick;
Uint32 delta;
Uint64 sensor_timestamp;
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;
tick = LOAD32(packet->rgucSensorTimestamp[0],
packet->rgucSensorTimestamp[1],
packet->rgucSensorTimestamp[2],
packet->rgucSensorTimestamp[3]);
if (ctx->last_tick < tick) {
delta = (tick - ctx->last_tick);
} else {
ctx->timestamp = timestamp;
delta = (SDL_MAX_UINT32 - ctx->last_tick + tick + 1);
}
ctx->last_timestamp = timestamp;
ctx->sensor_ticks += delta;
ctx->last_tick = tick;
/* Sensor timestamp is in 0.33us units */
timestamp_us = ctx->timestamp / 3;
sensor_timestamp = (ctx->sensor_ticks * SDL_NS_PER_US) / 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(timestamp, joystick, SDL_SENSOR_GYRO, timestamp_us, data, 3);
SDL_PrivateJoystickSensor(timestamp, joystick, SDL_SENSOR_GYRO, sensor_timestamp, 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(timestamp, joystick, SDL_SENSOR_ACCEL, timestamp_us, data, 3);
SDL_PrivateJoystickSensor(timestamp, joystick, SDL_SENSOR_ACCEL, sensor_timestamp, data, 3);
}
}

8
src/joystick/hidapi/SDL_hidapi_steam.c
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@@ -943,7 +943,7 @@ typedef struct
{
SDL_bool report_sensors;
uint32_t update_rate_in_us;
Uint32 timestamp_us;
Uint64 sensor_timestamp;
SteamControllerPacketAssembler m_assembler;
SteamControllerStateInternal_t m_state;
@@ -1183,17 +1183,17 @@ static SDL_bool HIDAPI_DriverSteam_UpdateDevice(SDL_HIDAPI_Device *device)
if (ctx->report_sensors) {
float values[3];
ctx->timestamp_us += ctx->update_rate_in_us;
ctx->sensor_timestamp += SDL_US_TO_NS(ctx->update_rate_in_us);
values[0] = (ctx->m_state.sGyroX / 32768.0f) * (2000.0f * (SDL_PI_F / 180.0f));
values[1] = (ctx->m_state.sGyroZ / 32768.0f) * (2000.0f * (SDL_PI_F / 180.0f));
values[2] = (ctx->m_state.sGyroY / 32768.0f) * (2000.0f * (SDL_PI_F / 180.0f));
SDL_PrivateJoystickSensor(timestamp, joystick, SDL_SENSOR_GYRO, ctx->timestamp_us, values, 3);
SDL_PrivateJoystickSensor(timestamp, joystick, SDL_SENSOR_GYRO, ctx->sensor_timestamp, values, 3);
values[0] = (ctx->m_state.sAccelX / 32768.0f) * 2.0f * SDL_STANDARD_GRAVITY;
values[1] = (ctx->m_state.sAccelZ / 32768.0f) * 2.0f * SDL_STANDARD_GRAVITY;
values[2] = (-ctx->m_state.sAccelY / 32768.0f) * 2.0f * SDL_STANDARD_GRAVITY;
SDL_PrivateJoystickSensor(timestamp, joystick, SDL_SENSOR_ACCEL, ctx->timestamp_us, values, 3);
SDL_PrivateJoystickSensor(timestamp, joystick, SDL_SENSOR_ACCEL, ctx->sensor_timestamp, values, 3);
}
ctx->m_last_state = ctx->m_state;

48
src/joystick/hidapi/SDL_hidapi_switch.c
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@@ -1714,7 +1714,7 @@ static void HandleSimpleControllerState(SDL_Joystick *joystick, SDL_DriverSwitch
}
static void
SendSensorUpdate(Uint64 timestamp, SDL_Joystick *joystick, SDL_DriverSwitch_Context *ctx, SDL_SensorType type, Uint64 timestamp_us, const Sint16 *values)
SendSensorUpdate(Uint64 timestamp, SDL_Joystick *joystick, SDL_DriverSwitch_Context *ctx, SDL_SensorType type, Uint64 sensor_timestamp, const Sint16 *values)
{
float data[3];
@@ -1754,7 +1754,7 @@ SendSensorUpdate(Uint64 timestamp, SDL_Joystick *joystick, SDL_DriverSwitch_Cont
data[0] = -tmp;
}
SDL_PrivateJoystickSensor(timestamp, joystick, type, timestamp_us, data, 3);
SDL_PrivateJoystickSensor(timestamp, joystick, type, sensor_timestamp, data, 3);
}
static void HandleCombinedControllerStateL(Uint64 timestamp, SDL_Joystick *joystick, SDL_DriverSwitch_Context *ctx, SwitchStatePacket_t *packet)
@@ -1983,7 +1983,7 @@ static void HandleFullControllerState(SDL_Joystick *joystick, SDL_DriverSwitch_C
packet->imuState[0].sAccelX != 0);
if (bHasSensorData) {
const Uint32 IMU_UPDATE_RATE_SAMPLE_FREQUENCY = 1000;
Uint64 timestamp_us[3];
Uint64 sensor_timestamp[3];
ctx->m_bHasSensorData = SDL_TRUE;
@@ -2001,45 +2001,45 @@ static void HandleFullControllerState(SDL_Joystick *joystick, SDL_DriverSwitch_C
}
ctx->m_ulTimestampNS += ctx->m_ulIMUUpdateIntervalNS;
timestamp_us[0] = SDL_NS_TO_US(ctx->m_ulTimestampNS);
sensor_timestamp[0] = ctx->m_ulTimestampNS;
ctx->m_ulTimestampNS += ctx->m_ulIMUUpdateIntervalNS;
timestamp_us[1] = SDL_NS_TO_US(ctx->m_ulTimestampNS);
sensor_timestamp[1] = ctx->m_ulTimestampNS;
ctx->m_ulTimestampNS += ctx->m_ulIMUUpdateIntervalNS;
timestamp_us[2] = SDL_NS_TO_US(ctx->m_ulTimestampNS);
sensor_timestamp[2] = ctx->m_ulTimestampNS;
if (!ctx->device->parent ||
ctx->m_eControllerType == k_eSwitchDeviceInfoControllerType_JoyConRight) {
SendSensorUpdate(0, joystick, ctx, SDL_SENSOR_GYRO, timestamp_us[0], &packet->imuState[2].sGyroX);
SendSensorUpdate(0, joystick, ctx, SDL_SENSOR_ACCEL, timestamp_us[0], &packet->imuState[2].sAccelX);
SendSensorUpdate(timestamp, joystick, ctx, SDL_SENSOR_GYRO, sensor_timestamp[0], &packet->imuState[2].sGyroX);
SendSensorUpdate(timestamp, joystick, ctx, SDL_SENSOR_ACCEL, sensor_timestamp[0], &packet->imuState[2].sAccelX);
SendSensorUpdate(0, joystick, ctx, SDL_SENSOR_GYRO, timestamp_us[1], &packet->imuState[1].sGyroX);
SendSensorUpdate(0, joystick, ctx, SDL_SENSOR_ACCEL, timestamp_us[1], &packet->imuState[1].sAccelX);
SendSensorUpdate(timestamp, joystick, ctx, SDL_SENSOR_GYRO, sensor_timestamp[1], &packet->imuState[1].sGyroX);
SendSensorUpdate(timestamp, joystick, ctx, SDL_SENSOR_ACCEL, sensor_timestamp[1], &packet->imuState[1].sAccelX);
SendSensorUpdate(0, joystick, ctx, SDL_SENSOR_GYRO, timestamp_us[2], &packet->imuState[0].sGyroX);
SendSensorUpdate(0, joystick, ctx, SDL_SENSOR_ACCEL, timestamp_us[2], &packet->imuState[0].sAccelX);
SendSensorUpdate(timestamp, joystick, ctx, SDL_SENSOR_GYRO, sensor_timestamp[2], &packet->imuState[0].sGyroX);
SendSensorUpdate(timestamp, joystick, ctx, SDL_SENSOR_ACCEL, sensor_timestamp[2], &packet->imuState[0].sAccelX);
}
if (ctx->device->parent &&
ctx->m_eControllerType == k_eSwitchDeviceInfoControllerType_JoyConLeft) {
SendSensorUpdate(0, joystick, ctx, SDL_SENSOR_GYRO_L, timestamp_us[0], &packet->imuState[2].sGyroX);
SendSensorUpdate(0, joystick, ctx, SDL_SENSOR_ACCEL_L, timestamp_us[0], &packet->imuState[2].sAccelX);
SendSensorUpdate(timestamp, joystick, ctx, SDL_SENSOR_GYRO_L, sensor_timestamp[0], &packet->imuState[2].sGyroX);
SendSensorUpdate(timestamp, joystick, ctx, SDL_SENSOR_ACCEL_L, sensor_timestamp[0], &packet->imuState[2].sAccelX);
SendSensorUpdate(0, joystick, ctx, SDL_SENSOR_GYRO_L, timestamp_us[1], &packet->imuState[1].sGyroX);
SendSensorUpdate(0, joystick, ctx, SDL_SENSOR_ACCEL_L, timestamp_us[1], &packet->imuState[1].sAccelX);
SendSensorUpdate(timestamp, joystick, ctx, SDL_SENSOR_GYRO_L, sensor_timestamp[1], &packet->imuState[1].sGyroX);
SendSensorUpdate(timestamp, joystick, ctx, SDL_SENSOR_ACCEL_L, sensor_timestamp[1], &packet->imuState[1].sAccelX);
SendSensorUpdate(0, joystick, ctx, SDL_SENSOR_GYRO_L, timestamp_us[2], &packet->imuState[0].sGyroX);
SendSensorUpdate(0, joystick, ctx, SDL_SENSOR_ACCEL_L, timestamp_us[2], &packet->imuState[0].sAccelX);
SendSensorUpdate(timestamp, joystick, ctx, SDL_SENSOR_GYRO_L, sensor_timestamp[2], &packet->imuState[0].sGyroX);
SendSensorUpdate(timestamp, joystick, ctx, SDL_SENSOR_ACCEL_L, sensor_timestamp[2], &packet->imuState[0].sAccelX);
}
if (ctx->device->parent &&
ctx->m_eControllerType == k_eSwitchDeviceInfoControllerType_JoyConRight) {
SendSensorUpdate(0, joystick, ctx, SDL_SENSOR_GYRO_R, timestamp_us[0], &packet->imuState[2].sGyroX);
SendSensorUpdate(0, joystick, ctx, SDL_SENSOR_ACCEL_R, timestamp_us[0], &packet->imuState[2].sAccelX);
SendSensorUpdate(timestamp, joystick, ctx, SDL_SENSOR_GYRO_R, sensor_timestamp[0], &packet->imuState[2].sGyroX);
SendSensorUpdate(timestamp, joystick, ctx, SDL_SENSOR_ACCEL_R, sensor_timestamp[0], &packet->imuState[2].sAccelX);
SendSensorUpdate(0, joystick, ctx, SDL_SENSOR_GYRO_R, timestamp_us[1], &packet->imuState[1].sGyroX);
SendSensorUpdate(0, joystick, ctx, SDL_SENSOR_ACCEL_R, timestamp_us[1], &packet->imuState[1].sAccelX);
SendSensorUpdate(timestamp, joystick, ctx, SDL_SENSOR_GYRO_R, sensor_timestamp[1], &packet->imuState[1].sGyroX);
SendSensorUpdate(timestamp, joystick, ctx, SDL_SENSOR_ACCEL_R, sensor_timestamp[1], &packet->imuState[1].sAccelX);
SendSensorUpdate(0, joystick, ctx, SDL_SENSOR_GYRO_R, timestamp_us[2], &packet->imuState[0].sGyroX);
SendSensorUpdate(0, joystick, ctx, SDL_SENSOR_ACCEL_R, timestamp_us[2], &packet->imuState[0].sAccelX);
SendSensorUpdate(timestamp, joystick, ctx, SDL_SENSOR_GYRO_R, sensor_timestamp[2], &packet->imuState[0].sGyroX);
SendSensorUpdate(timestamp, joystick, ctx, SDL_SENSOR_ACCEL_R, sensor_timestamp[2], &packet->imuState[0].sAccelX);
}
} else if (ctx->m_bHasSensorData) {

6
src/joystick/hidapi/SDL_hidapi_wii.c
View File

@@ -1254,7 +1254,7 @@ static void HandleNunchuckButtonData(SDL_DriverWii_Context *ctx, SDL_Joystick *j
values[0] = -((float)x / ACCEL_RES_PER_G) * SDL_STANDARD_GRAVITY;
values[1] = ((float)z / ACCEL_RES_PER_G) * SDL_STANDARD_GRAVITY;
values[2] = ((float)y / ACCEL_RES_PER_G) * SDL_STANDARD_GRAVITY;
SDL_PrivateJoystickSensor(ctx->timestamp, joystick, SDL_SENSOR_ACCEL_L, 0, values, 3);
SDL_PrivateJoystickSensor(ctx->timestamp, joystick, SDL_SENSOR_ACCEL_L, ctx->timestamp, values, 3);
}
}
@@ -1294,7 +1294,7 @@ static void HandleMotionPlusData(SDL_DriverWii_Context *ctx, SDL_Joystick *joyst
values[0] = -((float)z / GYRO_RES_PER_DEGREE) * SDL_PI_F / 180.0f;
values[1] = ((float)x / GYRO_RES_PER_DEGREE) * SDL_PI_F / 180.0f;
values[2] = ((float)y / GYRO_RES_PER_DEGREE) * SDL_PI_F / 180.0f;
SDL_PrivateJoystickSensor(ctx->timestamp, joystick, SDL_SENSOR_GYRO, 0, values, 3);
SDL_PrivateJoystickSensor(ctx->timestamp, joystick, SDL_SENSOR_GYRO, ctx->timestamp, values, 3);
}
}
@@ -1315,7 +1315,7 @@ static void HandleWiiRemoteAccelData(SDL_DriverWii_Context *ctx, SDL_Joystick *j
values[0] = -((float)x / ACCEL_RES_PER_G) * SDL_STANDARD_GRAVITY;
values[1] = ((float)z / ACCEL_RES_PER_G) * SDL_STANDARD_GRAVITY;
values[2] = ((float)y / ACCEL_RES_PER_G) * SDL_STANDARD_GRAVITY;
SDL_PrivateJoystickSensor(ctx->timestamp, joystick, SDL_SENSOR_ACCEL, 0, values, 3);
SDL_PrivateJoystickSensor(ctx->timestamp, joystick, SDL_SENSOR_ACCEL, ctx->timestamp, values, 3);
}
static void HandleButtonData(SDL_DriverWii_Context *ctx, SDL_Joystick *joystick, WiiButtonData *data)