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Improve accelerometer algorithm

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wheremyfoodat 2024-08-16 17:54:15 +03:00
parent c772b1c702
commit dbdf21b1ab
5 changed files with 39 additions and 24 deletions
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2
CMakeLists.txt
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@ -260,7 +260,7 @@ set(HEADER_FILES include/emulator.hpp include/helpers.hpp include/termcolor.hpp
include/audio/miniaudio_device.hpp include/ring_buffer.hpp include/bitfield.hpp include/audio/dsp_shared_mem.hpp
include/audio/hle_core.hpp include/capstone.hpp include/audio/aac.hpp include/PICA/pica_frag_config.hpp
include/PICA/pica_frag_uniforms.hpp include/PICA/shader_gen_types.hpp include/PICA/shader_decompiler.hpp
include/sdl_gyro.hpp
include/sdl_sensors.hpp
)
cmrc_add_resource_library(

17
include/sdl_gyro.hpp
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@ -1,17 +0,0 @@
#pragma once
#include <glm/glm.hpp>
#include <numbers>
#include "services/hid.hpp"
namespace Gyro::SDL {
// Convert the rotation data we get from SDL sensor events to rotation data we can feed right to HID
// Returns [pitch, roll, yaw]
static glm::vec3 convertRotation(glm::vec3 rotation) {
// Convert the rotation from rad/s to deg/s and scale by the gyroscope coefficient in HID
constexpr float scale = 180.f / std::numbers::pi * HIDService::gyroscopeCoeff;
// The axes are also inverted, so invert scale before the multiplication.
return rotation * -scale;
}
} // namespace Gyro::SDL

30
include/sdl_sensors.hpp Normal file
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@ -0,0 +1,30 @@
#pragma once
#include <glm/glm.hpp>
#include <numbers>
#include "services/hid.hpp"
namespace Sensors::SDL {
// Convert the rotation data we get from SDL sensor events to rotation data we can feed right to HID
// Returns [pitch, roll, yaw]
static glm::vec3 convertRotation(glm::vec3 rotation) {
// Convert the rotation from rad/s to deg/s and scale by the gyroscope coefficient in HID
constexpr float scale = 180.f / std::numbers::pi * HIDService::gyroscopeCoeff;
// The axes are also inverted, so invert scale before the multiplication.
return rotation * -scale;
}
static glm::vec3 convertAcceleration(float* data) {
// Set our cap to ~9 m/s^2. The 3DS sensors cap at -930 and +930, so values above this value will get clamped to 930
// At rest (3DS laid flat on table), hardware reads around ~0 for x and z axis, and around ~480 for y axis due to gravity.
// This code tries to mimic this approximately, with offsets based on measurements from my DualShock 4.
static constexpr float accelMax = 9.f;
s16 x = std::clamp<s16>(s16(data[0] / accelMax * 930.f), -930, +930);
s16 y = std::clamp<s16>(s16(data[1] / (SDL_STANDARD_GRAVITY * accelMax) * 930.f - 350.f), -930, +930);
s16 z = std::clamp<s16>(s16((data[2] - 2.1f) / accelMax * 930.f), -930, +930);
return glm::vec3(x, y, z);
}
} // namespace Gyro::SDL

7
src/panda_qt/main_window.cpp
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@ -9,7 +9,7 @@
#include "cheats.hpp"
#include "input_mappings.hpp"
#include "sdl_gyro.hpp"
#include "sdl_sensors.hpp"
#include "services/dsp.hpp"
MainWindow::MainWindow(QApplication* app, QWidget* parent) : QMainWindow(parent), keyboardMappings(InputMappings::defaultKeyboardMappings()) {
@ -606,7 +606,7 @@ void MainWindow::pollControllers() {
case SDL_CONTROLLERSENSORUPDATE: {
if (event.csensor.sensor == SDL_SENSOR_GYRO) {
auto rotation = Gyro::SDL::convertRotation({
auto rotation = Sensors::SDL::convertRotation({
event.csensor.data[0],
event.csensor.data[1],
event.csensor.data[2],
@ -616,7 +616,8 @@ void MainWindow::pollControllers() {
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]));
auto accel = Sensors::SDL::convertAcceleration(event.csensor.data);
hid.setAccel(accel.x, accel.y, accel.z);
}
break;
}

7
src/panda_sdl/frontend_sdl.cpp
View file

@ -2,7 +2,7 @@
#include <glad/gl.h>
#include "sdl_gyro.hpp"
#include "sdl_sensors.hpp"
FrontendSDL::FrontendSDL() : keyboardMappings(InputMappings::defaultKeyboardMappings()) {
if (SDL_Init(SDL_INIT_VIDEO | SDL_INIT_EVENTS) < 0) {
@ -289,7 +289,7 @@ void FrontendSDL::run() {
case SDL_CONTROLLERSENSORUPDATE: {
if (event.csensor.sensor == SDL_SENSOR_GYRO) {
auto rotation = Gyro::SDL::convertRotation({
auto rotation = Sensors::SDL::convertRotation({
event.csensor.data[0],
event.csensor.data[1],
event.csensor.data[2],
@ -299,7 +299,8 @@ void FrontendSDL::run() {
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]));
auto accel = Sensors::SDL::convertAcceleration(event.csensor.data);
hid.setAccel(accel.x, accel.y, accel.z);
}
break;
}