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Added API for sensors on game controllers

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Added support for the PS4 controller gyro and accelerometer on iOS and HIDAPI drivers

Also fixed an issue with the accelerometer on iOS having inverted axes
This commit is contained in:
Sam Lantinga
2020-11-17 10:30:20 -08:00
parent b79e1baa36
commit fcb21aa883
33 changed files with 810 additions and 118 deletions
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258
src/joystick/hidapi/SDL_hidapi_ps4.c
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@@ -37,6 +37,17 @@
#ifdef SDL_JOYSTICK_HIDAPI_PS4
/* Define this if you want to log all packets from the controller */
/*#define DEBUG_PS4_PROTOCOL*/
/* Define this if you want to log calibration data */
/*#define DEBUG_PS4_CALIBRATION*/
#define GYRO_RES_PER_DEGREE 1024.0f
#define ACCEL_RES_PER_G 8192.0f
#define LOAD16(A, B) (Sint16)((Uint16)(A) | (((Uint16)(B)) << 8))
typedef enum
{
k_EPS4ReportIdUsbState = 1,
@@ -71,12 +82,12 @@ typedef struct
Uint8 ucTriggerLeft;
Uint8 ucTriggerRight;
Uint8 _rgucPad0[ 3 ];
Sint16 sGyroX;
Sint16 sGyroY;
Sint16 sGyroZ;
Sint16 sAccelX;
Sint16 sAccelY;
Sint16 sAccelZ;
Uint8 rgucGyroX[2];
Uint8 rgucGyroY[2];
Uint8 rgucGyroZ[2];
Uint8 rgucAccelX[2];
Uint8 rgucAccelY[2];
Uint8 rgucAccelZ[2];
Uint8 _rgucPad1[ 5 ];
Uint8 ucBatteryLevel;
Uint8 _rgucPad2[ 4 ];
@@ -102,11 +113,20 @@ typedef struct
Uint8 ucVolumeSpeaker;
} DS4EffectsState_t;
typedef struct {
Sint16 bias;
float sensitivity;
} IMUCalibrationData;
typedef struct {
SDL_bool is_dongle;
SDL_bool is_bluetooth;
SDL_bool official_controller;
SDL_bool audio_supported;
SDL_bool effects_supported;
SDL_bool report_sensors;
SDL_bool hardware_calibration;
IMUCalibrationData calibration[6];
int player_index;
Uint8 rumble_left;
Uint8 rumble_right;
@@ -191,6 +211,168 @@ HIDAPI_DriverPS4_GetDevicePlayerIndex(SDL_HIDAPI_Device *device, SDL_JoystickID
return -1;
}
static void
HIDAPI_DriverPS4_LoadCalibrationData(SDL_HIDAPI_Device *device)
{
SDL_DriverPS4_Context *ctx = (SDL_DriverPS4_Context *)device->context;
int i, tries, size;
SDL_bool have_data = SDL_FALSE;
Uint8 data[USB_PACKET_LENGTH];
if (!ctx->official_controller) {
#ifdef DEBUG_PS4_CALIBRATION
SDL_Log("Not an official controller, ignoring calibration\n");
#endif
return;
}
for( tries = 0; tries < 5; ++tries ) {
/* For Bluetooth controllers, this report switches them into advanced report mode */
size = ReadFeatureReport(device->dev, k_ePS4FeatureReportIdGyroCalibration_USB, data, sizeof(data));
if (size < 35) {
#ifdef DEBUG_PS4_CALIBRATION
SDL_Log("Short read of calibration data: %d, ignoring calibration\n", size);
#endif
return;
}
if (ctx->is_bluetooth) {
size = ReadFeatureReport(device->dev, k_ePS4FeatureReportIdGyroCalibration_BT, data, sizeof(data));
if (size < 35) {
#ifdef DEBUG_PS4_CALIBRATION
SDL_Log("Short read of calibration data: %d, ignoring calibration\n", size);
#endif
return;
}
}
/* In some cases this report returns all zeros. Usually immediately after connection with the PS4 Dongle */
for (i = 0; i < size; ++i) {
if (data[i]) {
have_data = SDL_TRUE;
break;
}
}
if (have_data) {
break;
}
SDL_Delay(2);
}
if (have_data) {
Sint16 sGyroPitchBias, sGyroYawBias, sGyroRollBias;
Sint16 sGyroPitchPlus, sGyroPitchMinus;
Sint16 sGyroYawPlus, sGyroYawMinus;
Sint16 sGyroRollPlus, sGyroRollMinus;
Sint16 sGyroSpeedPlus, sGyroSpeedMinus;
Sint16 sAccXPlus, sAccXMinus;
Sint16 sAccYPlus, sAccYMinus;
Sint16 sAccZPlus, sAccZMinus;
float flNumerator;
Sint16 sRange2g;
#ifdef DEBUG_PS4_CALIBRATION
HIDAPI_DumpPacket("PS4 calibration packet: size = %d", data, size);
#endif
sGyroPitchBias = LOAD16(data[1], data[2]);
sGyroYawBias = LOAD16(data[3], data[4]);
sGyroRollBias = LOAD16(data[5], data[6]);
if (ctx->is_bluetooth || ctx->is_dongle) {
sGyroPitchPlus = LOAD16(data[7], data[8]);
sGyroYawPlus = LOAD16(data[9], data[10]);
sGyroRollPlus = LOAD16(data[11], data[12]);
sGyroPitchMinus = LOAD16(data[13], data[14]);
sGyroYawMinus = LOAD16(data[15], data[16]);
sGyroRollMinus = LOAD16(data[17], data[18]);
} else {
sGyroPitchPlus = LOAD16(data[7], data[8]);
sGyroPitchMinus = LOAD16(data[9], data[10]);
sGyroYawPlus = LOAD16(data[11], data[12]);
sGyroYawMinus = LOAD16(data[13], data[14]);
sGyroRollPlus = LOAD16(data[15], data[16]);
sGyroRollMinus = LOAD16(data[17], data[18]);
}
sGyroSpeedPlus = LOAD16(data[19], data[20]);
sGyroSpeedMinus = LOAD16(data[21], data[22]);
sAccXPlus = LOAD16(data[23], data[24]);
sAccXMinus = LOAD16(data[25], data[26]);
sAccYPlus = LOAD16(data[27], data[28]);
sAccYMinus = LOAD16(data[29], data[30]);
sAccZPlus = LOAD16(data[31], data[32]);
sAccZMinus = LOAD16(data[33], data[34]);
flNumerator = (sGyroSpeedPlus + sGyroSpeedMinus) * GYRO_RES_PER_DEGREE;
ctx->calibration[0].bias = sGyroPitchBias;
ctx->calibration[0].sensitivity = flNumerator / (sGyroPitchPlus - sGyroPitchMinus);
ctx->calibration[1].bias = sGyroYawBias;
ctx->calibration[1].sensitivity = flNumerator / (sGyroYawPlus - sGyroYawMinus);
ctx->calibration[2].bias = sGyroRollBias;
ctx->calibration[2].sensitivity = flNumerator / (sGyroRollPlus - sGyroRollMinus);
sRange2g = sAccXPlus - sAccXMinus;
ctx->calibration[3].bias = sAccXPlus - sRange2g / 2;
ctx->calibration[3].sensitivity = 2.0f * ACCEL_RES_PER_G / (float)sRange2g;
sRange2g = sAccYPlus - sAccYMinus;
ctx->calibration[4].bias = sAccYPlus - sRange2g / 2;
ctx->calibration[4].sensitivity = 2.0f * ACCEL_RES_PER_G / (float)sRange2g;
sRange2g = sAccZPlus - sAccZMinus;
ctx->calibration[5].bias = sAccZPlus - sRange2g / 2;
ctx->calibration[5].sensitivity = 2.0f * ACCEL_RES_PER_G / (float)sRange2g;
ctx->hardware_calibration = SDL_TRUE;
for (i = 0; i < 6; ++i) {
float divisor = (i < 3 ? 64.0f : 1.0f);
#ifdef DEBUG_PS4_CALIBRATION
SDL_Log("calibration[%d] bias = %d, sensitivity = %f\n", i, ctx->calibration[i].bias, ctx->calibration[i].sensitivity);
#endif
/* Some controllers have a bad calibration */
if ((SDL_abs(ctx->calibration[i].bias) > 1024) || (SDL_fabs(1.0f - ctx->calibration[i].sensitivity / divisor) > 0.5f)) {
#ifdef DEBUG_PS4_CALIBRATION
SDL_Log("invalid calibration, ignoring\n");
#endif
ctx->hardware_calibration = SDL_FALSE;
}
}
} else {
#ifdef DEBUG_PS4_CALIBRATION
SDL_Log("Calibration data not available\n");
#endif
}
}
static float
HIDAPI_DriverPS4_ApplyCalibrationData(SDL_DriverPS4_Context *ctx, int index, Sint16 value)
{
float result;
if (ctx->hardware_calibration) {
IMUCalibrationData *calibration = &ctx->calibration[index];
result = (value - calibration->bias) * calibration->sensitivity;
} else {
result = value;
}
/* Convert the raw data to the units expected by SDL */
if (index < 3) {
result = (result / GYRO_RES_PER_DEGREE) * M_PI / 180.0f;
} else {
result = (result / ACCEL_RES_PER_G) * SDL_STANDARD_GRAVITY;
}
return result;
}
static int
HIDAPI_DriverPS4_UpdateEffects(SDL_HIDAPI_Device *device)
{
@@ -286,37 +468,24 @@ HIDAPI_DriverPS4_OpenJoystick(SDL_HIDAPI_Device *device, SDL_Joystick *joystick)
ctx->is_dongle = (device->vendor_id == USB_VENDOR_SONY && device->product_id == USB_PRODUCT_SONY_DS4_DONGLE);
if (ctx->is_dongle) {
ctx->is_bluetooth = SDL_FALSE;
ctx->official_controller = SDL_TRUE;
} else if (device->vendor_id == USB_VENDOR_SONY) {
int i;
Uint8 data[USB_PACKET_LENGTH];
int length;
int size;
/* This will fail if we're on Bluetooth */
length = ReadFeatureReport(device->dev, k_ePS4FeatureReportIdSerialNumber, data, sizeof(data));
if (length >= 7) {
SDL_bool had_data = SDL_FALSE;
for (i = 0; i < length; ++i) {
if (data[i] != 0x00) {
had_data = SDL_TRUE;
break;
}
}
if (had_data) {
char serial[18];
SDL_snprintf(serial, sizeof(serial), "%.2x-%.2x-%.2x-%.2x-%.2x-%.2x",
data[6], data[5], data[4], data[3], data[2], data[1]);
joystick->serial = SDL_strdup(serial);
} else {
/* Maybe the dongle without a connected controller? */
}
size = ReadFeatureReport(device->dev, k_ePS4FeatureReportIdSerialNumber, data, sizeof(data));
if (size >= 7) {
char serial[18];
SDL_snprintf(serial, sizeof(serial), "%.2x-%.2x-%.2x-%.2x-%.2x-%.2x",
data[6], data[5], data[4], data[3], data[2], data[1]);
joystick->serial = SDL_strdup(serial);
ctx->is_bluetooth = SDL_FALSE;
} else {
ctx->is_bluetooth = SDL_TRUE;
}
ctx->official_controller = SDL_TRUE;
} else {
/* Third party controllers appear to all be wired */
ctx->is_bluetooth = SDL_FALSE;
@@ -351,6 +520,8 @@ HIDAPI_DriverPS4_OpenJoystick(SDL_HIDAPI_Device *device, SDL_Joystick *joystick)
joystick->epowerlevel = SDL_JOYSTICK_POWER_WIRED;
SDL_PrivateJoystickAddTouchpad(joystick, 2);
SDL_PrivateJoystickAddSensor(joystick, SDL_SENSOR_GYRO);
SDL_PrivateJoystickAddSensor(joystick, SDL_SENSOR_ACCEL);
return SDL_TRUE;
}
@@ -391,6 +562,19 @@ HIDAPI_DriverPS4_SetJoystickLED(SDL_HIDAPI_Device *device, SDL_Joystick *joystic
return HIDAPI_DriverPS4_UpdateEffects(device);
}
static int
HIDAPI_DriverPS4_SetJoystickSensorsEnabled(SDL_HIDAPI_Device *device, SDL_Joystick *joystick, SDL_bool enabled)
{
SDL_DriverPS4_Context *ctx = (SDL_DriverPS4_Context *)device->context;
if (enabled) {
HIDAPI_DriverPS4_LoadCalibrationData(device);
}
ctx->report_sensors = enabled;
return 0;
}
static void
HIDAPI_DriverPS4_HandleStatePacket(SDL_Joystick *joystick, hid_device *dev, SDL_DriverPS4_Context *ctx, PS4StatePacket_t *packet)
{
@@ -521,6 +705,20 @@ HIDAPI_DriverPS4_HandleStatePacket(SDL_Joystick *joystick, hid_device *dev, SDL_
touchpad_y = (packet->rgucTouchpadData2[1] >> 4) | ((int)packet->rgucTouchpadData2[2] << 4);
SDL_PrivateJoystickTouchpad(joystick, 0, 1, touchpad_state, touchpad_x * TOUCHPAD_SCALEX, touchpad_y * TOUCHPAD_SCALEY, touchpad_state ? 1.0f : 0.0f);
if (ctx->report_sensors) {
float data[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(joystick, SDL_SENSOR_GYRO, 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(joystick, SDL_SENSOR_ACCEL, data, 3);
}
SDL_memcpy(&ctx->last_state, packet, sizeof(ctx->last_state));
}
@@ -540,6 +738,9 @@ HIDAPI_DriverPS4_UpdateDevice(SDL_HIDAPI_Device *device)
}
while ((size = hid_read_timeout(device->dev, data, sizeof(data), 0)) > 0) {
#ifdef DEBUG_PS4_PROTOCOL
HIDAPI_DumpPacket("PS4 packet: size = %d", data, size);
#endif
switch (data[0]) {
case k_EPS4ReportIdUsbState:
HIDAPI_DriverPS4_HandleStatePacket(joystick, device->dev, ctx, (PS4StatePacket_t *)&data[1]);
@@ -603,6 +804,7 @@ SDL_HIDAPI_DeviceDriver SDL_HIDAPI_DriverPS4 =
HIDAPI_DriverPS4_RumbleJoystickTriggers,
HIDAPI_DriverPS4_HasJoystickLED,
HIDAPI_DriverPS4_SetJoystickLED,
HIDAPI_DriverPS4_SetJoystickSensorsEnabled,
HIDAPI_DriverPS4_CloseJoystick,
HIDAPI_DriverPS4_FreeDevice,
NULL