diff options
Diffstat (limited to 'src/core/hid')
-rw-r--r-- | src/core/hid/emulated_controller.cpp | 45 | ||||
-rw-r--r-- | src/core/hid/emulated_controller.h | 9 | ||||
-rw-r--r-- | src/core/hid/input_converter.cpp | 10 | ||||
-rw-r--r-- | src/core/hid/motion_input.cpp | 57 | ||||
-rw-r--r-- | src/core/hid/motion_input.h | 13 |
5 files changed, 110 insertions, 24 deletions
diff --git a/src/core/hid/emulated_controller.cpp b/src/core/hid/emulated_controller.cpp index a70f8807c..366880711 100644 --- a/src/core/hid/emulated_controller.cpp +++ b/src/core/hid/emulated_controller.cpp @@ -376,6 +376,7 @@ void EmulatedController::ReloadInput() { motion.accel = emulated_motion.GetAcceleration(); motion.gyro = emulated_motion.GetGyroscope(); motion.rotation = emulated_motion.GetRotations(); + motion.euler = emulated_motion.GetEulerAngles(); motion.orientation = emulated_motion.GetOrientation(); motion.is_at_rest = !emulated_motion.IsMoving(motion_sensitivity); } @@ -551,6 +552,8 @@ void EmulatedController::EnableSystemButtons() { void EmulatedController::DisableSystemButtons() { std::scoped_lock lock{mutex}; system_buttons_enabled = false; + controller.home_button_state.raw = 0; + controller.capture_button_state.raw = 0; } void EmulatedController::ResetSystemButtons() { @@ -685,6 +688,12 @@ void EmulatedController::SetMotionParam(std::size_t index, Common::ParamPackage ReloadInput(); } +void EmulatedController::StartMotionCalibration() { + for (ControllerMotionInfo& motion : controller.motion_values) { + motion.emulated.Calibrate(); + } +} + void EmulatedController::SetButton(const Common::Input::CallbackStatus& callback, std::size_t index, Common::UUID uuid) { if (index >= controller.button_values.size()) { @@ -734,6 +743,8 @@ void EmulatedController::SetButton(const Common::Input::CallbackStatus& callback if (is_configuring) { controller.npad_button_state.raw = NpadButton::None; controller.debug_pad_button_state.raw = 0; + controller.home_button_state.raw = 0; + controller.capture_button_state.raw = 0; lock.unlock(); TriggerOnChange(ControllerTriggerType::Button, false); return; @@ -974,16 +985,12 @@ void EmulatedController::SetMotion(const Common::Input::CallbackStatus& callback emulated.SetUserGyroThreshold(raw_status.gyro.x.properties.threshold); emulated.UpdateRotation(raw_status.delta_timestamp); emulated.UpdateOrientation(raw_status.delta_timestamp); - force_update_motion = raw_status.force_update; - - if (is_configuring) { - return; - } auto& motion = controller.motion_state[index]; motion.accel = emulated.GetAcceleration(); motion.gyro = emulated.GetGyroscope(); motion.rotation = emulated.GetRotations(); + motion.euler = emulated.GetEulerAngles(); motion.orientation = emulated.GetOrientation(); motion.is_at_rest = !emulated.IsMoving(motion_sensitivity); } @@ -1616,19 +1623,6 @@ NpadGcTriggerState EmulatedController::GetTriggers() const { MotionState EmulatedController::GetMotions() const { std::unique_lock lock{mutex}; - - // Some drivers like mouse motion need constant refreshing - if (force_update_motion) { - for (auto& device : motion_devices) { - if (!device) { - continue; - } - lock.unlock(); - device->ForceUpdate(); - lock.lock(); - } - } - return controller.motion_state; } @@ -1694,8 +1688,21 @@ void EmulatedController::DeleteCallback(int key) { callback_list.erase(iterator); } -void EmulatedController::TurboButtonUpdate() { +void EmulatedController::StatusUpdate() { turbo_button_state = (turbo_button_state + 1) % (TURBO_BUTTON_DELAY * 2); + + // Some drivers like key motion need constant refreshing + for (std::size_t index = 0; index < motion_devices.size(); ++index) { + const auto& raw_status = controller.motion_values[index].raw_status; + auto& device = motion_devices[index]; + if (!raw_status.force_update) { + continue; + } + if (!device) { + continue; + } + device->ForceUpdate(); + } } NpadButton EmulatedController::GetTurboButtonMask() const { diff --git a/src/core/hid/emulated_controller.h b/src/core/hid/emulated_controller.h index 429655355..88fad2f56 100644 --- a/src/core/hid/emulated_controller.h +++ b/src/core/hid/emulated_controller.h @@ -106,6 +106,7 @@ struct ControllerMotion { Common::Vec3f accel{}; Common::Vec3f gyro{}; Common::Vec3f rotation{}; + Common::Vec3f euler{}; std::array<Common::Vec3f, 3> orientation{}; bool is_at_rest{}; }; @@ -289,6 +290,9 @@ public: */ void SetMotionParam(std::size_t index, Common::ParamPackage param); + /// Auto calibrates the current motion devices + void StartMotionCalibration(); + /// Returns the latest button status from the controller with parameters ButtonValues GetButtonsValues() const; @@ -414,8 +418,8 @@ public: */ void DeleteCallback(int key); - /// Swaps the state of the turbo buttons - void TurboButtonUpdate(); + /// Swaps the state of the turbo buttons and updates motion input + void StatusUpdate(); private: /// creates input devices from params @@ -527,7 +531,6 @@ private: bool is_configuring{false}; bool system_buttons_enabled{true}; f32 motion_sensitivity{Core::HID::MotionInput::IsAtRestStandard}; - bool force_update_motion{false}; u32 turbo_button_state{0}; // Temporary values to avoid doing changes while the controller is in configuring mode diff --git a/src/core/hid/input_converter.cpp b/src/core/hid/input_converter.cpp index 7cee39a53..4ccb1c596 100644 --- a/src/core/hid/input_converter.cpp +++ b/src/core/hid/input_converter.cpp @@ -54,6 +54,7 @@ Common::Input::ButtonStatus TransformToButton(const Common::Input::CallbackStatu case Common::Input::InputType::Analog: status.value = TransformToTrigger(callback).pressed.value; status.toggle = callback.analog_status.properties.toggle; + status.inverted = callback.analog_status.properties.inverted_button; break; case Common::Input::InputType::Trigger: status.value = TransformToTrigger(callback).pressed.value; @@ -61,6 +62,9 @@ Common::Input::ButtonStatus TransformToButton(const Common::Input::CallbackStatu case Common::Input::InputType::Button: status = callback.button_status; break; + case Common::Input::InputType::Motion: + status.value = std::abs(callback.motion_status.gyro.x.raw_value) > 1.0f; + break; default: LOG_ERROR(Input, "Conversion from type {} to button not implemented", callback.type); break; @@ -82,7 +86,7 @@ Common::Input::MotionStatus TransformToMotion(const Common::Input::CallbackStatu .range = 1.0f, .offset = 0.0f, }; - status.delta_timestamp = 5000; + status.delta_timestamp = 1000; status.force_update = true; status.accel.x = { .value = 0.0f, @@ -226,6 +230,10 @@ Common::Input::TriggerStatus TransformToTrigger(const Common::Input::CallbackSta status = callback.trigger_status; calculate_button_value = false; break; + case Common::Input::InputType::Motion: + status.analog.properties.range = 1.0f; + raw_value = callback.motion_status.accel.x.raw_value; + break; default: LOG_ERROR(Input, "Conversion from type {} to trigger not implemented", callback.type); break; diff --git a/src/core/hid/motion_input.cpp b/src/core/hid/motion_input.cpp index 0dd66c1cc..f56f2ae1d 100644 --- a/src/core/hid/motion_input.cpp +++ b/src/core/hid/motion_input.cpp @@ -1,6 +1,8 @@ // SPDX-FileCopyrightText: Copyright 2020 yuzu Emulator Project // SPDX-License-Identifier: GPL-2.0-or-later +#include <cmath> + #include "common/math_util.h" #include "core/hid/motion_input.h" @@ -35,11 +37,17 @@ void MotionInput::SetGyroscope(const Common::Vec3f& gyroscope) { gyro.y = std::clamp(gyro.y, -GyroMaxValue, GyroMaxValue); gyro.z = std::clamp(gyro.z, -GyroMaxValue, GyroMaxValue); - // Auto adjust drift to minimize drift + // Auto adjust gyro_bias to minimize drift if (!IsMoving(IsAtRestRelaxed)) { gyro_bias = (gyro_bias * 0.9999f) + (gyroscope * 0.0001f); } + // Adjust drift when calibration mode is enabled + if (calibration_mode) { + gyro_bias = (gyro_bias * 0.99f) + (gyroscope * 0.01f); + StopCalibration(); + } + if (gyro.Length() < gyro_threshold * user_gyro_threshold) { gyro = {}; } else { @@ -51,6 +59,20 @@ void MotionInput::SetQuaternion(const Common::Quaternion<f32>& quaternion) { quat = quaternion; } +void MotionInput::SetEulerAngles(const Common::Vec3f& euler_angles) { + const float cr = std::cos(euler_angles.x * 0.5f); + const float sr = std::sin(euler_angles.x * 0.5f); + const float cp = std::cos(euler_angles.y * 0.5f); + const float sp = std::sin(euler_angles.y * 0.5f); + const float cy = std::cos(euler_angles.z * 0.5f); + const float sy = std::sin(euler_angles.z * 0.5f); + + quat.w = cr * cp * cy + sr * sp * sy; + quat.xyz.x = sr * cp * cy - cr * sp * sy; + quat.xyz.y = cr * sp * cy + sr * cp * sy; + quat.xyz.z = cr * cp * sy - sr * sp * cy; +} + void MotionInput::SetGyroBias(const Common::Vec3f& bias) { gyro_bias = bias; } @@ -91,6 +113,19 @@ void MotionInput::UpdateRotation(u64 elapsed_time) { rotations += gyro * sample_period; } +void MotionInput::Calibrate() { + calibration_mode = true; + calibration_counter = 0; +} + +void MotionInput::StopCalibration() { + if (calibration_counter++ > CalibrationSamples) { + calibration_mode = false; + ResetQuaternion(); + ResetRotations(); + } +} + // Based on Madgwick's implementation of Mayhony's AHRS algorithm. // https://github.com/xioTechnologies/Open-Source-AHRS-With-x-IMU/blob/master/x-IMU%20IMU%20and%20AHRS%20Algorithms/x-IMU%20IMU%20and%20AHRS%20Algorithms/AHRS/MahonyAHRS.cs void MotionInput::UpdateOrientation(u64 elapsed_time) { @@ -222,6 +257,26 @@ Common::Vec3f MotionInput::GetRotations() const { return rotations; } +Common::Vec3f MotionInput::GetEulerAngles() const { + // roll (x-axis rotation) + const float sinr_cosp = 2 * (quat.w * quat.xyz.x + quat.xyz.y * quat.xyz.z); + const float cosr_cosp = 1 - 2 * (quat.xyz.x * quat.xyz.x + quat.xyz.y * quat.xyz.y); + + // pitch (y-axis rotation) + const float sinp = std::sqrt(1 + 2 * (quat.w * quat.xyz.y - quat.xyz.x * quat.xyz.z)); + const float cosp = std::sqrt(1 - 2 * (quat.w * quat.xyz.y - quat.xyz.x * quat.xyz.z)); + + // yaw (z-axis rotation) + const float siny_cosp = 2 * (quat.w * quat.xyz.z + quat.xyz.x * quat.xyz.y); + const float cosy_cosp = 1 - 2 * (quat.xyz.y * quat.xyz.y + quat.xyz.z * quat.xyz.z); + + return { + std::atan2(sinr_cosp, cosr_cosp), + 2 * std::atan2(sinp, cosp) - Common::PI / 2, + std::atan2(siny_cosp, cosy_cosp), + }; +} + void MotionInput::ResetOrientation() { if (!reset_enabled || only_accelerometer) { return; diff --git a/src/core/hid/motion_input.h b/src/core/hid/motion_input.h index 9f3fc1cf7..11678983d 100644 --- a/src/core/hid/motion_input.h +++ b/src/core/hid/motion_input.h @@ -23,6 +23,8 @@ public: static constexpr float GyroMaxValue = 5.0f; static constexpr float AccelMaxValue = 7.0f; + static constexpr std::size_t CalibrationSamples = 300; + explicit MotionInput(); MotionInput(const MotionInput&) = default; @@ -35,6 +37,7 @@ public: void SetAcceleration(const Common::Vec3f& acceleration); void SetGyroscope(const Common::Vec3f& gyroscope); void SetQuaternion(const Common::Quaternion<f32>& quaternion); + void SetEulerAngles(const Common::Vec3f& euler_angles); void SetGyroBias(const Common::Vec3f& bias); void SetGyroThreshold(f32 threshold); @@ -48,17 +51,21 @@ public: void UpdateRotation(u64 elapsed_time); void UpdateOrientation(u64 elapsed_time); + void Calibrate(); + [[nodiscard]] std::array<Common::Vec3f, 3> GetOrientation() const; [[nodiscard]] Common::Vec3f GetAcceleration() const; [[nodiscard]] Common::Vec3f GetGyroscope() const; [[nodiscard]] Common::Vec3f GetGyroBias() const; [[nodiscard]] Common::Vec3f GetRotations() const; [[nodiscard]] Common::Quaternion<f32> GetQuaternion() const; + [[nodiscard]] Common::Vec3f GetEulerAngles() const; [[nodiscard]] bool IsMoving(f32 sensitivity) const; [[nodiscard]] bool IsCalibrated(f32 sensitivity) const; private: + void StopCalibration(); void ResetOrientation(); void SetOrientationFromAccelerometer(); @@ -101,6 +108,12 @@ private: // Use accelerometer values to calculate position bool only_accelerometer = true; + + // When enabled it will aggressively adjust for gyro drift + bool calibration_mode = false; + + // Used to auto disable calibration mode + std::size_t calibration_counter = 0; }; } // namespace Core::HID |