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HID: use MotionDevice for Accelerometer and Gyroscope
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@ -11,6 +11,7 @@
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#include <utility>
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#include "common/logging/log.h"
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#include "common/param_package.h"
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#include "common/vector_math.h"
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namespace Input {
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@ -107,4 +108,23 @@ using ButtonDevice = InputDevice<bool>;
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*/
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using AnalogDevice = InputDevice<std::tuple<float, float>>;
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/**
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* A motion device is an input device that returns a tuple of accelerometer state vector and
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* gyroscope state vector.
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*
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* For accelerometer state vector:
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* x+ is the same direction as LEFT on D-pad.
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* y+ is normal to the touch screen, pointing outward.
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* z+ is the same direction as UP on D-pad.
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* Units: measured in unit of gravitational acceleration
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*
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* For gyroscope state vector:
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* x+ is the same direction as LEFT on D-pad.
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* y+ is normal to the touch screen, pointing outward.
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* z+ is the same direction as UP on D-pad.
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* Orientation is determined by right-hand rule.
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* Units: deg/sec
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*/
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using MotionDevice = InputDevice<std::tuple<Math::Vec3<float>, Math::Vec3<float>>>;
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} // namespace Input
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@ -7,6 +7,7 @@
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#include <cmath>
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#include <memory>
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#include "common/logging/log.h"
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#include "core/core.h"
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#include "core/core_timing.h"
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#include "core/frontend/emu_window.h"
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#include "core/frontend/input.h"
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@ -50,10 +51,14 @@ constexpr u64 pad_update_ticks = BASE_CLOCK_RATE_ARM11 / 234;
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constexpr u64 accelerometer_update_ticks = BASE_CLOCK_RATE_ARM11 / 104;
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constexpr u64 gyroscope_update_ticks = BASE_CLOCK_RATE_ARM11 / 101;
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constexpr float accelerometer_coef = 512.0f; // measured from hw test result
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constexpr float gyroscope_coef = 14.375f; // got from hwtest GetGyroscopeLowRawToDpsCoefficient call
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static std::atomic<bool> is_device_reload_pending;
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static std::array<std::unique_ptr<Input::ButtonDevice>, Settings::NativeButton::NUM_BUTTONS_HID>
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buttons;
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static std::unique_ptr<Input::AnalogDevice> circle_pad;
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static std::unique_ptr<Input::MotionDevice> motion_device;
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DirectionState GetStickDirectionState(s16 circle_pad_x, s16 circle_pad_y) {
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// 30 degree and 60 degree are angular thresholds for directions
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@ -90,6 +95,7 @@ static void LoadInputDevices() {
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buttons.begin(), Input::CreateDevice<Input::ButtonDevice>);
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circle_pad = Input::CreateDevice<Input::AnalogDevice>(
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Settings::values.analogs[Settings::NativeAnalog::CirclePad]);
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motion_device = Input::CreateDevice<Input::MotionDevice>(Settings::values.motion_device);
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}
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static void UnloadInputDevices() {
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@ -97,6 +103,7 @@ static void UnloadInputDevices() {
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button.reset();
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}
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circle_pad.reset();
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motion_device.reset();
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}
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static void UpdatePadCallback(u64 userdata, int cycles_late) {
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@ -193,10 +200,19 @@ static void UpdateAccelerometerCallback(u64 userdata, int cycles_late) {
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mem->accelerometer.index = next_accelerometer_index;
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next_accelerometer_index = (next_accelerometer_index + 1) % mem->accelerometer.entries.size();
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Math::Vec3<float> accel;
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std::tie(accel, std::ignore) = motion_device->GetStatus();
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accel *= accelerometer_coef;
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// TODO(wwylele): do a time stretch as it in UpdateGyroscopeCallback
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// The time stretch formula should be like
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// stretched_vector = (raw_vector - gravity) * stretch_ratio + gravity
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AccelerometerDataEntry& accelerometer_entry =
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mem->accelerometer.entries[mem->accelerometer.index];
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std::tie(accelerometer_entry.x, accelerometer_entry.y, accelerometer_entry.z) =
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VideoCore::g_emu_window->GetAccelerometerState();
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accelerometer_entry.x = static_cast<s16>(accel.x);
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accelerometer_entry.y = static_cast<s16>(accel.y);
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accelerometer_entry.z = static_cast<s16>(accel.z);
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// Make up "raw" entry
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// TODO(wwylele):
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@ -227,8 +243,14 @@ static void UpdateGyroscopeCallback(u64 userdata, int cycles_late) {
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next_gyroscope_index = (next_gyroscope_index + 1) % mem->gyroscope.entries.size();
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GyroscopeDataEntry& gyroscope_entry = mem->gyroscope.entries[mem->gyroscope.index];
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std::tie(gyroscope_entry.x, gyroscope_entry.y, gyroscope_entry.z) =
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VideoCore::g_emu_window->GetGyroscopeState();
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Math::Vec3<float> gyro;
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std::tie(std::ignore, gyro) = motion_device->GetStatus();
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float stretch = Core::System::GetInstance().perf_stats.GetLastFrameTimeScale();
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gyro *= gyroscope_coef * stretch;
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gyroscope_entry.x = static_cast<s16>(gyro.x);
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gyroscope_entry.y = static_cast<s16>(gyro.y);
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gyroscope_entry.z = static_cast<s16>(gyro.z);
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// Make up "raw" entry
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mem->gyroscope.raw_entry.x = gyroscope_entry.x;
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@ -326,7 +348,7 @@ void GetGyroscopeLowRawToDpsCoefficient(Service::Interface* self) {
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cmd_buff[1] = RESULT_SUCCESS.raw;
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f32 coef = VideoCore::g_emu_window->GetGyroscopeRawToDpsCoefficient();
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f32 coef = gyroscope_coef;
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memcpy(&cmd_buff[2], &coef, 4);
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}
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@ -79,6 +79,7 @@ struct Values {
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// Controls
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std::array<std::string, NativeButton::NumButtons> buttons;
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std::array<std::string, NativeAnalog::NumAnalogs> analogs;
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std::string motion_device;
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// Core
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bool use_cpu_jit;
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