mirror of
https://github.com/libsdl-org/SDL.git
synced 2026-04-20 06:21:09 +00:00
60fb1b5541
Fix IMU timing stamp - simulate the timing stamp from the controller hardware's perspective, as opposed to the receiving computer's perspective. Do this by advancing a time stamp by a fixed rate, based on observation of average rate over bluetooth.
460 lines
16 KiB
C
460 lines
16 KiB
C
/*
|
|
Simple DirectMedia Layer
|
|
Copyright (C) 1997-2024 Sam Lantinga <slouken@libsdl.org>
|
|
|
|
This software is provided 'as-is', without any express or implied
|
|
warranty. In no event will the authors be held liable for any damages
|
|
arising from the use of this software.
|
|
|
|
Permission is granted to anyone to use this software for any purpose,
|
|
including commercial applications, and to alter it and redistribute it
|
|
freely, subject to the following restrictions:
|
|
|
|
1. The origin of this software must not be misrepresented; you must not
|
|
claim that you wrote the original software. If you use this software
|
|
in a product, an acknowledgment in the product documentation would be
|
|
appreciated but is not required.
|
|
2. Altered source versions must be plainly marked as such, and must not be
|
|
misrepresented as being the original software.
|
|
3. This notice may not be removed or altered from any source distribution.
|
|
*/
|
|
#include "SDL_internal.h"
|
|
|
|
#ifdef SDL_JOYSTICK_HIDAPI
|
|
|
|
#include "../SDL_sysjoystick.h"
|
|
#include "SDL_hidapijoystick_c.h"
|
|
#include "SDL_hidapi_rumble.h"
|
|
|
|
#ifdef SDL_JOYSTICK_HIDAPI_8BITDO
|
|
|
|
// Define this if you want to log all packets from the controller
|
|
#if 0
|
|
#define DEBUG_8BITDO_PROTOCOL
|
|
#endif
|
|
|
|
enum
|
|
{
|
|
SDL_GAMEPAD_BUTTON_8BITDO_L4 = 11,
|
|
SDL_GAMEPAD_BUTTON_8BITDO_R4,
|
|
SDL_GAMEPAD_BUTTON_8BITDO_PL,
|
|
SDL_GAMEPAD_BUTTON_8BITDO_PR,
|
|
SDL_GAMEPAD_NUM_8BITDO_BUTTONS,
|
|
};
|
|
|
|
#define ABITDO_ACCEL_SCALE 4096.f
|
|
#define SENSOR_INTERVAL_NS 8000000ULL
|
|
|
|
typedef struct
|
|
{
|
|
bool sensors_supported;
|
|
bool sensors_enabled;
|
|
bool touchpad_01_supported;
|
|
bool touchpad_02_supported;
|
|
bool rumble_supported;
|
|
bool rumble_type;
|
|
bool rgb_supported;
|
|
bool player_led_supported;
|
|
bool powerstate_supported;
|
|
Uint8 serial[6];
|
|
Uint16 version;
|
|
Uint16 version_beta;
|
|
float accelScale;
|
|
float gyroScale;
|
|
Uint8 last_state[USB_PACKET_LENGTH];
|
|
Uint64 sensor_timestamp; // Microseconds. Simulate onboard clock. Advance by known rate: SENSOR_INTERVAL_NS == 8ms = 125 Hz
|
|
} SDL_Driver8BitDo_Context;
|
|
|
|
#pragma pack(push,1)
|
|
typedef struct
|
|
{
|
|
bool sensors_supported;
|
|
bool touchpad_01_supported;
|
|
bool touchpad_02_supported;
|
|
bool rumble_supported;
|
|
bool rumble_type;
|
|
bool rgb_supported;
|
|
Uint8 device_type;
|
|
Uint8 serial[6];
|
|
Uint16 version;
|
|
Uint16 version_beta;
|
|
Uint16 pid;
|
|
} ABITDO_DEVICE_INFO;
|
|
|
|
typedef struct
|
|
{
|
|
// Accelerometer values
|
|
short sAccelX;
|
|
short sAccelY;
|
|
short sAccelZ;
|
|
|
|
// Gyroscope values
|
|
short sGyroX;
|
|
short sGyroY;
|
|
short sGyroZ;
|
|
} ABITDO_SENSORS;
|
|
|
|
#pragma pack(pop)
|
|
|
|
|
|
static void HIDAPI_Driver8BitDo_RegisterHints(SDL_HintCallback callback, void *userdata)
|
|
{
|
|
SDL_AddHintCallback(SDL_HINT_JOYSTICK_HIDAPI_8BITDO, callback, userdata);
|
|
}
|
|
|
|
static void HIDAPI_Driver8BitDo_UnregisterHints(SDL_HintCallback callback, void *userdata)
|
|
{
|
|
SDL_RemoveHintCallback(SDL_HINT_JOYSTICK_HIDAPI_8BITDO, callback, userdata);
|
|
}
|
|
|
|
static bool HIDAPI_Driver8BitDo_IsEnabled(void)
|
|
{
|
|
return SDL_GetHintBoolean(SDL_HINT_JOYSTICK_HIDAPI_8BITDO, SDL_GetHintBoolean(SDL_HINT_JOYSTICK_HIDAPI, SDL_HIDAPI_DEFAULT));
|
|
}
|
|
|
|
static bool HIDAPI_Driver8BitDo_IsSupportedDevice(SDL_HIDAPI_Device *device, const char *name, SDL_GamepadType type, Uint16 vendor_id, Uint16 product_id, Uint16 version, int interface_number, int interface_class, int interface_subclass, int interface_protocol)
|
|
{
|
|
return SDL_IsJoystick8BitDoController(vendor_id, product_id);
|
|
}
|
|
|
|
static bool HIDAPI_Driver8BitDo_InitDevice(SDL_HIDAPI_Device *device)
|
|
{
|
|
SDL_Driver8BitDo_Context *ctx = (SDL_Driver8BitDo_Context *)SDL_calloc(1, sizeof(*ctx));
|
|
if (!ctx) {
|
|
return false;
|
|
}
|
|
device->context = ctx;
|
|
|
|
if (device->product_id == USB_PRODUCT_8BITDO_ULTIMATE2_WIRELESS) {
|
|
// The Ultimate 2 Wireless v1.02 firmware has 12 byte reports, v1.03 firmware has 34 byte reports
|
|
const int ULTIMATE2_WIRELESS_V103_REPORT_SIZE = 34;
|
|
Uint8 data[USB_PACKET_LENGTH];
|
|
int size = SDL_hid_read_timeout(device->dev, data, sizeof(data), 80);
|
|
if (size >= ULTIMATE2_WIRELESS_V103_REPORT_SIZE) {
|
|
ctx->sensors_supported = true;
|
|
ctx->rumble_supported = true;
|
|
ctx->powerstate_supported = true;
|
|
}
|
|
}
|
|
|
|
return HIDAPI_JoystickConnected(device, NULL);
|
|
}
|
|
|
|
static int HIDAPI_Driver8BitDo_GetDevicePlayerIndex(SDL_HIDAPI_Device *device, SDL_JoystickID instance_id)
|
|
{
|
|
return -1;
|
|
}
|
|
|
|
static void HIDAPI_Driver8BitDo_SetDevicePlayerIndex(SDL_HIDAPI_Device *device, SDL_JoystickID instance_id, int player_index)
|
|
{
|
|
}
|
|
|
|
#ifndef DEG2RAD
|
|
#define DEG2RAD(x) ((float)(x) * (float)(SDL_PI_F / 180.f))
|
|
#endif
|
|
|
|
static bool HIDAPI_Driver8BitDo_OpenJoystick(SDL_HIDAPI_Device *device, SDL_Joystick *joystick)
|
|
{
|
|
SDL_Driver8BitDo_Context *ctx = (SDL_Driver8BitDo_Context *)device->context;
|
|
|
|
SDL_AssertJoysticksLocked();
|
|
|
|
SDL_zeroa(ctx->last_state);
|
|
|
|
// Initialize the joystick capabilities
|
|
joystick->nbuttons = SDL_GAMEPAD_NUM_8BITDO_BUTTONS;
|
|
joystick->naxes = SDL_GAMEPAD_AXIS_COUNT;
|
|
joystick->nhats = 1;
|
|
|
|
if (ctx->sensors_supported) {
|
|
SDL_PrivateJoystickAddSensor(joystick, SDL_SENSOR_GYRO, 125.0f);
|
|
SDL_PrivateJoystickAddSensor(joystick, SDL_SENSOR_ACCEL, 125.0f);
|
|
|
|
|
|
ctx->accelScale = SDL_STANDARD_GRAVITY / ABITDO_ACCEL_SCALE;
|
|
ctx->gyroScale = DEG2RAD(2048) / INT16_MAX; // Hardware senses +/- 2048 Degrees per second mapped to +/- INT16_MAX
|
|
}
|
|
|
|
return true;
|
|
}
|
|
|
|
static bool HIDAPI_Driver8BitDo_RumbleJoystick(SDL_HIDAPI_Device *device, SDL_Joystick *joystick, Uint16 low_frequency_rumble, Uint16 high_frequency_rumble)
|
|
{
|
|
SDL_Driver8BitDo_Context *ctx = (SDL_Driver8BitDo_Context *)device->context;
|
|
if (ctx->rumble_supported) {
|
|
Uint8 rumble_packet[5] = { 0x05, 0x00, 0x00, 0x00, 0x00 };
|
|
rumble_packet[1] = low_frequency_rumble >> 8;
|
|
rumble_packet[2] = high_frequency_rumble >> 8;
|
|
|
|
if (SDL_HIDAPI_SendRumble(device, rumble_packet, sizeof(rumble_packet)) != sizeof(rumble_packet)) {
|
|
return SDL_SetError("Couldn't send rumble packet");
|
|
}
|
|
return true;
|
|
} else {
|
|
return SDL_Unsupported();
|
|
}
|
|
}
|
|
|
|
static bool HIDAPI_Driver8BitDo_RumbleJoystickTriggers(SDL_HIDAPI_Device *device, SDL_Joystick *joystick, Uint16 left_rumble, Uint16 right_rumble)
|
|
{
|
|
return SDL_Unsupported();
|
|
}
|
|
|
|
static Uint32 HIDAPI_Driver8BitDo_GetJoystickCapabilities(SDL_HIDAPI_Device *device, SDL_Joystick *joystick)
|
|
{
|
|
SDL_Driver8BitDo_Context *ctx = (SDL_Driver8BitDo_Context *)device->context;
|
|
Uint32 caps = 0;
|
|
if (ctx->rumble_supported) {
|
|
caps |= SDL_JOYSTICK_CAP_RUMBLE;
|
|
}
|
|
if (ctx->rgb_supported) {
|
|
caps |= SDL_JOYSTICK_CAP_RGB_LED;
|
|
}
|
|
return caps;
|
|
}
|
|
|
|
static bool HIDAPI_Driver8BitDo_SetJoystickLED(SDL_HIDAPI_Device *device, SDL_Joystick *joystick, Uint8 red, Uint8 green, Uint8 blue)
|
|
{
|
|
return SDL_Unsupported();
|
|
}
|
|
|
|
static bool HIDAPI_Driver8BitDo_SendJoystickEffect(SDL_HIDAPI_Device *device, SDL_Joystick *joystick, const void *data, int size)
|
|
{
|
|
return SDL_Unsupported();
|
|
}
|
|
|
|
static bool HIDAPI_Driver8BitDo_SetJoystickSensorsEnabled(SDL_HIDAPI_Device *device, SDL_Joystick *joystick, bool enabled)
|
|
{
|
|
SDL_Driver8BitDo_Context *ctx = (SDL_Driver8BitDo_Context *)device->context;
|
|
if (ctx->sensors_supported) {
|
|
ctx->sensors_enabled = enabled;
|
|
return true;
|
|
}
|
|
return SDL_Unsupported();
|
|
}
|
|
static void HIDAPI_Driver8BitDo_HandleStatePacket(SDL_Joystick *joystick, SDL_Driver8BitDo_Context *ctx, Uint8 *data, int size)
|
|
{
|
|
Sint16 axis;
|
|
Uint64 timestamp = SDL_GetTicksNS();
|
|
if (data[0] != 0x03 && data[0] != 0x01) {
|
|
// We don't know how to handle this report
|
|
return;
|
|
}
|
|
|
|
if (ctx->last_state[1] != data[1]) {
|
|
Uint8 hat;
|
|
|
|
switch (data[1]) {
|
|
case 0:
|
|
hat = SDL_HAT_UP;
|
|
break;
|
|
case 1:
|
|
hat = SDL_HAT_RIGHTUP;
|
|
break;
|
|
case 2:
|
|
hat = SDL_HAT_RIGHT;
|
|
break;
|
|
case 3:
|
|
hat = SDL_HAT_RIGHTDOWN;
|
|
break;
|
|
case 4:
|
|
hat = SDL_HAT_DOWN;
|
|
break;
|
|
case 5:
|
|
hat = SDL_HAT_LEFTDOWN;
|
|
break;
|
|
case 6:
|
|
hat = SDL_HAT_LEFT;
|
|
break;
|
|
case 7:
|
|
hat = SDL_HAT_LEFTUP;
|
|
break;
|
|
default:
|
|
hat = SDL_HAT_CENTERED;
|
|
break;
|
|
}
|
|
SDL_SendJoystickHat(timestamp, joystick, 0, hat);
|
|
}
|
|
|
|
|
|
if (ctx->last_state[8] != data[8]) {
|
|
SDL_SendJoystickButton(timestamp, joystick, SDL_GAMEPAD_BUTTON_SOUTH, ((data[8] & 0x01) != 0));
|
|
SDL_SendJoystickButton(timestamp, joystick, SDL_GAMEPAD_BUTTON_EAST, ((data[8] & 0x02) != 0));
|
|
SDL_SendJoystickButton(timestamp, joystick, SDL_GAMEPAD_BUTTON_WEST, ((data[8] & 0x08) != 0));
|
|
SDL_SendJoystickButton(timestamp, joystick, SDL_GAMEPAD_BUTTON_NORTH, ((data[8] & 0x10) != 0));
|
|
SDL_SendJoystickButton(timestamp, joystick, SDL_GAMEPAD_BUTTON_LEFT_SHOULDER, ((data[8] & 0x40) != 0));
|
|
SDL_SendJoystickButton(timestamp, joystick, SDL_GAMEPAD_BUTTON_RIGHT_SHOULDER, ((data[8] & 0x80) != 0));
|
|
|
|
SDL_SendJoystickButton(timestamp, joystick, SDL_GAMEPAD_BUTTON_8BITDO_PL, ((data[8] & 0x20) != 0));
|
|
SDL_SendJoystickButton(timestamp, joystick, SDL_GAMEPAD_BUTTON_8BITDO_PR, ((data[8] & 0x04) != 0));
|
|
}
|
|
|
|
if (ctx->last_state[9] != data[9]) {
|
|
SDL_SendJoystickButton(timestamp, joystick, SDL_GAMEPAD_BUTTON_GUIDE, ((data[9] & 0x10) != 0));
|
|
SDL_SendJoystickButton(timestamp, joystick, SDL_GAMEPAD_BUTTON_BACK, ((data[9] & 0x04) != 0));
|
|
SDL_SendJoystickButton(timestamp, joystick, SDL_GAMEPAD_BUTTON_START, ((data[9] & 0x08) != 0));
|
|
SDL_SendJoystickButton(timestamp, joystick, SDL_GAMEPAD_BUTTON_LEFT_STICK, ((data[9] & 0x20) != 0));
|
|
SDL_SendJoystickButton(timestamp, joystick, SDL_GAMEPAD_BUTTON_RIGHT_STICK, ((data[9] & 0x40) != 0));
|
|
}
|
|
|
|
if (ctx->last_state[10] != data[10]) {
|
|
SDL_SendJoystickButton(timestamp, joystick, SDL_GAMEPAD_BUTTON_8BITDO_L4, ((data[10] & 0x01) != 0));
|
|
SDL_SendJoystickButton(timestamp, joystick, SDL_GAMEPAD_BUTTON_8BITDO_R4, ((data[10] & 0x02) != 0));
|
|
}
|
|
|
|
#define READ_STICK_AXIS(offset) \
|
|
(data[offset] == 0x7f ? 0 : (Sint16)HIDAPI_RemapVal((float)((int)data[offset] - 0x7f), -0x7f, 0xff - 0x7f, SDL_MIN_SINT16, SDL_MAX_SINT16))
|
|
{
|
|
axis = READ_STICK_AXIS(2);
|
|
SDL_SendJoystickAxis(timestamp, joystick, SDL_GAMEPAD_AXIS_LEFTX, axis);
|
|
axis = READ_STICK_AXIS(3);
|
|
SDL_SendJoystickAxis(timestamp, joystick, SDL_GAMEPAD_AXIS_LEFTY, axis);
|
|
axis = READ_STICK_AXIS(4);
|
|
SDL_SendJoystickAxis(timestamp, joystick, SDL_GAMEPAD_AXIS_RIGHTX, axis);
|
|
axis = READ_STICK_AXIS(5);
|
|
SDL_SendJoystickAxis(timestamp, joystick, SDL_GAMEPAD_AXIS_RIGHTY, axis);
|
|
}
|
|
#undef READ_STICK_AXIS
|
|
|
|
#define READ_TRIGGER_AXIS(offset) \
|
|
(Sint16)(((int)data[offset] * 257) - 32768)
|
|
{
|
|
axis = READ_TRIGGER_AXIS(7);
|
|
SDL_SendJoystickAxis(timestamp, joystick, SDL_GAMEPAD_AXIS_LEFT_TRIGGER, axis);
|
|
axis = READ_TRIGGER_AXIS(6);
|
|
SDL_SendJoystickAxis(timestamp, joystick, SDL_GAMEPAD_AXIS_RIGHT_TRIGGER, axis);
|
|
}
|
|
#undef READ_TRIGGER_AXIS
|
|
|
|
if (ctx->powerstate_supported) {
|
|
SDL_PowerState state;
|
|
int percent;
|
|
Uint8 status = data[14] >> 7;
|
|
Uint8 level = (data[14] & 0x7f);
|
|
if (level == 100) {
|
|
status = 2;
|
|
}
|
|
switch (status) {
|
|
case 0:
|
|
state = SDL_POWERSTATE_ON_BATTERY;
|
|
percent = level;
|
|
break;
|
|
case 1:
|
|
state = SDL_POWERSTATE_CHARGING;
|
|
percent = level;
|
|
break;
|
|
case 2:
|
|
state = SDL_POWERSTATE_CHARGED;
|
|
percent = 100;
|
|
break;
|
|
default:
|
|
state = SDL_POWERSTATE_UNKNOWN;
|
|
percent = 0;
|
|
break;
|
|
}
|
|
SDL_SendJoystickPowerInfo(joystick, state, percent);
|
|
}
|
|
|
|
|
|
if (ctx->sensors_enabled) {
|
|
Uint64 sensor_timestamp;
|
|
float values[3];
|
|
ABITDO_SENSORS *sensors = (ABITDO_SENSORS *)&data[15];
|
|
|
|
// Note: we cannot use the time stamp of the receiving computer due to packet delay creating "spiky" timings.
|
|
// The imu time stamp is intended to be the sample time of the on-board hardware.
|
|
// In the absence of time stamp data from the data[], we can simulate that by
|
|
// advancing a time stamp by the observed/known imu clock rate. This is 8ms = 125 Hz
|
|
sensor_timestamp = ctx->sensor_timestamp;
|
|
ctx->sensor_timestamp += SENSOR_INTERVAL_NS;
|
|
|
|
// This device's IMU values are reported differently from SDL
|
|
// Thus we perform a rotation of the coordinate system to match the SDL standard.
|
|
|
|
// By observation of this device:
|
|
// Hardware x is reporting roll (rotation about the power jack's axis)
|
|
// Hardware y is reporting pitch (rotation about the horizontal axis)
|
|
// Hardware z is reporting yaw (rotation about the joysticks' center axis)
|
|
values[0] = -sensors->sGyroY * ctx->gyroScale; // Rotation around pitch axis
|
|
values[1] = sensors->sGyroZ * ctx->gyroScale; // Rotation around yaw axis
|
|
values[2] = -sensors->sGyroX * ctx->gyroScale; // Rotation around roll axis
|
|
SDL_SendJoystickSensor(timestamp, joystick, SDL_SENSOR_GYRO, sensor_timestamp, values, 3);
|
|
|
|
// By observation of this device:
|
|
// Accelerometer X is positive when front of the controller points toward the sky.
|
|
// Accelerometer y is positive when left side of the controller points toward the sky.
|
|
// Accelerometer Z is positive when sticks point toward the sky.
|
|
values[0] = -sensors->sAccelY * ctx->accelScale; // Acceleration along pitch axis
|
|
values[1] = sensors->sAccelZ * ctx->accelScale; // Acceleration along yaw axis
|
|
values[2] = -sensors->sAccelX * ctx->accelScale; // Acceleration along roll axis
|
|
SDL_SendJoystickSensor(timestamp, joystick, SDL_SENSOR_ACCEL, sensor_timestamp, values, 3);
|
|
}
|
|
|
|
SDL_memcpy(ctx->last_state, data, SDL_min(size, sizeof(ctx->last_state)));
|
|
}
|
|
|
|
static bool HIDAPI_Driver8BitDo_UpdateDevice(SDL_HIDAPI_Device *device)
|
|
{
|
|
SDL_Driver8BitDo_Context *ctx = (SDL_Driver8BitDo_Context *)device->context;
|
|
SDL_Joystick *joystick = NULL;
|
|
Uint8 data[USB_PACKET_LENGTH];
|
|
int size = 0;
|
|
|
|
if (device->num_joysticks > 0) {
|
|
joystick = SDL_GetJoystickFromID(device->joysticks[0]);
|
|
} else {
|
|
return false;
|
|
}
|
|
|
|
while ((size = SDL_hid_read_timeout(device->dev, data, sizeof(data), 0)) > 0) {
|
|
#ifdef DEBUG_8BITDO_PROTOCOL
|
|
HIDAPI_DumpPacket("8BitDo packet: size = %d", data, size);
|
|
#endif
|
|
if (!joystick) {
|
|
continue;
|
|
}
|
|
|
|
HIDAPI_Driver8BitDo_HandleStatePacket(joystick, ctx, data, size);
|
|
}
|
|
|
|
if (size < 0) {
|
|
// Read error, device is disconnected
|
|
HIDAPI_JoystickDisconnected(device, device->joysticks[0]);
|
|
}
|
|
return (size >= 0);
|
|
}
|
|
|
|
static void HIDAPI_Driver8BitDo_CloseJoystick(SDL_HIDAPI_Device *device, SDL_Joystick *joystick)
|
|
{
|
|
}
|
|
|
|
static void HIDAPI_Driver8BitDo_FreeDevice(SDL_HIDAPI_Device *device)
|
|
{
|
|
}
|
|
|
|
SDL_HIDAPI_DeviceDriver SDL_HIDAPI_Driver8BitDo = {
|
|
SDL_HINT_JOYSTICK_HIDAPI_8BITDO,
|
|
true,
|
|
HIDAPI_Driver8BitDo_RegisterHints,
|
|
HIDAPI_Driver8BitDo_UnregisterHints,
|
|
HIDAPI_Driver8BitDo_IsEnabled,
|
|
HIDAPI_Driver8BitDo_IsSupportedDevice,
|
|
HIDAPI_Driver8BitDo_InitDevice,
|
|
HIDAPI_Driver8BitDo_GetDevicePlayerIndex,
|
|
HIDAPI_Driver8BitDo_SetDevicePlayerIndex,
|
|
HIDAPI_Driver8BitDo_UpdateDevice,
|
|
HIDAPI_Driver8BitDo_OpenJoystick,
|
|
HIDAPI_Driver8BitDo_RumbleJoystick,
|
|
HIDAPI_Driver8BitDo_RumbleJoystickTriggers,
|
|
HIDAPI_Driver8BitDo_GetJoystickCapabilities,
|
|
HIDAPI_Driver8BitDo_SetJoystickLED,
|
|
HIDAPI_Driver8BitDo_SendJoystickEffect,
|
|
HIDAPI_Driver8BitDo_SetJoystickSensorsEnabled,
|
|
HIDAPI_Driver8BitDo_CloseJoystick,
|
|
HIDAPI_Driver8BitDo_FreeDevice,
|
|
};
|
|
|
|
#endif // SDL_JOYSTICK_HIDAPI_8BITDO
|
|
|
|
#endif // SDL_JOYSTICK_HIDAPI
|