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Initial accelerometer support

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wheremyfoodat 2024-08-15 17:31:55 +03:00
parent ff7e0f9ca8
commit c772b1c702
4 changed files with 45 additions and 3 deletions
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12
include/services/hid.hpp
View file

@ -56,6 +56,7 @@ class HIDService {
s16 circlePadX, circlePadY; // Circlepad state
s16 touchScreenX, touchScreenY; // Touchscreen state
s16 roll, pitch, yaw; // Gyroscope state
s16 accelX, accelY, accelZ; // Accelerometer state
bool accelerometerEnabled;
bool eventsInitialized;
@ -87,6 +88,11 @@ class HIDService {
*(T*)&sharedMem[offset] = value;
}
template <typename T>
T* getSharedMemPointer(size_t offset) {
return (T*)&sharedMem[offset];
}
public:
static constexpr float gyroscopeCoeff = 14.375f; // Same as retail 3DS
@ -130,6 +136,12 @@ class HIDService {
void setPitch(s16 value) { pitch = value; }
void setYaw(s16 value) { yaw = value; }
void setAccel(s16 x, s16 y, s16 z) {
accelX = x;
accelY = y;
accelZ = z;
}
void updateInputs(u64 currentTimestamp);
void setSharedMem(u8* ptr) {

22
src/core/services/hid.cpp
View file

@ -35,6 +35,7 @@ void HIDService::reset() {
circlePadX = circlePadY = 0;
touchScreenX = touchScreenY = 0;
roll = pitch = yaw = 0;
accelX = accelY = accelZ = 0;
}
void HIDService::handleSyncRequest(u32 messagePointer) {
@ -189,6 +190,20 @@ void HIDService::updateInputs(u64 currentTick) {
writeSharedMem<u64>(0x108, currentTick); // Write new tick count
}
writeSharedMem<u32>(0x118, nextAccelerometerIndex); // Index last updated by the HID module
const size_t accelEntryOffset = 0x128 + (nextAccelerometerIndex * 6); // Offset in the array of 8 accelerometer entries
// Raw data of current accelerometer entry
// TODO: How is the "raw" data actually calculated?
s16* accelerometerDataRaw = getSharedMemPointer<s16>(0x120);
accelerometerDataRaw[0] = accelX;
accelerometerDataRaw[1] = accelY;
accelerometerDataRaw[2] = accelZ;
// Accelerometer entry in entry table
s16* accelerometerData = getSharedMemPointer<s16>(accelEntryOffset);
accelerometerData[0] = accelX;
accelerometerData[1] = accelY;
accelerometerData[2] = accelZ;
nextAccelerometerIndex = (nextAccelerometerIndex + 1) % 8; // Move to next entry
// Next, update gyro state
@ -197,9 +212,10 @@ void HIDService::updateInputs(u64 currentTick) {
writeSharedMem<u64>(0x158, currentTick); // Write new tick count
}
const size_t gyroEntryOffset = 0x178 + (nextGyroIndex * 6); // Offset in the array of 8 touchscreen entries
writeSharedMem<u16>(gyroEntryOffset, pitch);
writeSharedMem<u16>(gyroEntryOffset + 2, yaw);
writeSharedMem<u16>(gyroEntryOffset + 4, roll);
s16* gyroData = getSharedMemPointer<s16>(gyroEntryOffset);
gyroData[0] = pitch;
gyroData[1] = yaw;
gyroData[2] = roll;
// Since gyroscope euler angles are relative, we zero them out here and the frontend will update them again when we receive a new rotation
roll = pitch = yaw = 0;

7
src/panda_qt/main_window.cpp
View file

@ -615,6 +615,8 @@ void MainWindow::pollControllers() {
hid.setPitch(s16(rotation.x));
hid.setRoll(s16(rotation.y));
hid.setYaw(s16(rotation.z));
} else if (event.csensor.sensor == SDL_SENSOR_ACCEL) {
hid.setAccel(s16(event.csensor.data[0]), s16(-event.csensor.data[1]), s16(event.csensor.data[2]));
}
break;
}
@ -624,8 +626,13 @@ void MainWindow::pollControllers() {
void MainWindow::setupControllerSensors(SDL_GameController* controller) {
bool haveGyro = SDL_GameControllerHasSensor(controller, SDL_SENSOR_GYRO) == SDL_TRUE;
bool haveAccelerometer = SDL_GameControllerHasSensor(controller, SDL_SENSOR_ACCEL) == SDL_TRUE;
if (haveGyro) {
SDL_GameControllerSetSensorEnabled(controller, SDL_SENSOR_GYRO, SDL_TRUE);
}
if (haveAccelerometer) {
SDL_GameControllerSetSensorEnabled(controller, SDL_SENSOR_ACCEL, SDL_TRUE);
}
}

7
src/panda_sdl/frontend_sdl.cpp
View file

@ -298,6 +298,8 @@ void FrontendSDL::run() {
hid.setPitch(s16(rotation.x));
hid.setRoll(s16(rotation.y));
hid.setYaw(s16(rotation.z));
} else if (event.csensor.sensor == SDL_SENSOR_ACCEL) {
hid.setAccel(s16(event.csensor.data[0]), s16(-event.csensor.data[1]), s16(event.csensor.data[2]));
}
break;
}
@ -366,8 +368,13 @@ void FrontendSDL::run() {
void FrontendSDL::setupControllerSensors(SDL_GameController* controller) {
bool haveGyro = SDL_GameControllerHasSensor(controller, SDL_SENSOR_GYRO) == SDL_TRUE;
bool haveAccelerometer = SDL_GameControllerHasSensor(controller, SDL_SENSOR_ACCEL) == SDL_TRUE;
if (haveGyro) {
SDL_GameControllerSetSensorEnabled(controller, SDL_SENSOR_GYRO, SDL_TRUE);
}
if (haveAccelerometer) {
SDL_GameControllerSetSensorEnabled(controller, SDL_SENSOR_ACCEL, SDL_TRUE);
}
}