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Added microsecond timestamp to sensor values for PS4 and PS5 controllers using the HIDAPI driver

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This commit is contained in:
Sam Lantinga
2022-09-27 09:56:02 -07:00
parent d71df6448b
commit 2c518747b9
26 changed files with 204 additions and 63 deletions
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12
src/joystick/SDL_gamecontroller.c
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@@ -2440,6 +2440,15 @@ SDL_GameControllerGetSensorDataRate(SDL_GameController *gamecontroller, SDL_Sens
*/
int
SDL_GameControllerGetSensorData(SDL_GameController *gamecontroller, SDL_SensorType type, float *data, int num_values)
{
return SDL_GameControllerGetSensorDataWithTimestamp(gamecontroller, type, NULL, data, num_values);
}
/*
* Get the current state of a game controller sensor.
*/
int
SDL_GameControllerGetSensorDataWithTimestamp(SDL_GameController *gamecontroller, SDL_SensorType type, Uint64 *timestamp, float *data, int num_values)
{
SDL_Joystick *joystick = SDL_GameControllerGetJoystick(gamecontroller);
int i;
@@ -2454,6 +2463,9 @@ SDL_GameControllerGetSensorData(SDL_GameController *gamecontroller, SDL_SensorTy
if (sensor->type == type) {
num_values = SDL_min(num_values, SDL_arraysize(sensor->data));
SDL_memcpy(data, sensor->data, num_values*sizeof(*data));
if (timestamp) {
*timestamp = sensor->timestamp_us;
}
return 0;
}
}

4
src/joystick/SDL_joystick.c
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@@ -2983,7 +2983,7 @@ int SDL_PrivateJoystickTouchpad(SDL_Joystick *joystick, int touchpad, int finger
return posted;
}
int SDL_PrivateJoystickSensor(SDL_Joystick *joystick, SDL_SensorType type, const float *data, int num_values)
int SDL_PrivateJoystickSensor(SDL_Joystick *joystick, SDL_SensorType type, Uint64 timestamp_us, const float *data, int num_values)
{
int i;
int posted = 0;
@@ -3004,6 +3004,7 @@ int SDL_PrivateJoystickSensor(SDL_Joystick *joystick, SDL_SensorType type, const
/* Update internal sensor state */
SDL_memcpy(sensor->data, data, num_values*sizeof(*data));
sensor->timestamp_us = timestamp_us;
/* Post the event, if desired */
#if !SDL_EVENTS_DISABLED
@@ -3015,6 +3016,7 @@ int SDL_PrivateJoystickSensor(SDL_Joystick *joystick, SDL_SensorType type, const
num_values = SDL_min(num_values, SDL_arraysize(event.csensor.data));
SDL_memset(event.csensor.data, 0, sizeof(event.csensor.data));
SDL_memcpy(event.csensor.data, data, num_values*sizeof(*data));
event.csensor.timestamp_us = timestamp_us;
posted = SDL_PushEvent(&event) == 1;
}
#endif /* !SDL_EVENTS_DISABLED */

2
src/joystick/SDL_joystick_c.h
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@@ -160,7 +160,7 @@ extern int SDL_PrivateJoystickButton(SDL_Joystick *joystick,
extern int SDL_PrivateJoystickTouchpad(SDL_Joystick *joystick,
int touchpad, int finger, Uint8 state, float x, float y, float pressure);
extern int SDL_PrivateJoystickSensor(SDL_Joystick *joystick,
SDL_SensorType type, const float *data, int num_values);
SDL_SensorType type, Uint64 timestamp_us, const float *data, int num_values);
extern void SDL_PrivateJoystickBatteryLevel(SDL_Joystick *joystick,
SDL_JoystickPowerLevel ePowerLevel);

1
src/joystick/SDL_sysjoystick.h
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@@ -64,6 +64,7 @@ typedef struct _SDL_JoystickSensorInfo
SDL_bool enabled;
float rate;
float data[3]; /* If this needs to expand, update SDL_ControllerSensorEvent */
Uint64 timestamp_us;
} SDL_JoystickSensorInfo;
struct _SDL_Joystick

2
src/joystick/hidapi/SDL_hidapi_ps3.c
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@@ -487,7 +487,7 @@ HIDAPI_DriverPS3_HandleStatePacket(SDL_Joystick *joystick, SDL_DriverPS3_Context
sensor_data[0] = HIDAPI_DriverPS3_ScaleAccel(LOAD16(data[41], data[42]));
sensor_data[1] = -HIDAPI_DriverPS3_ScaleAccel(LOAD16(data[45], data[46]));
sensor_data[2] = -HIDAPI_DriverPS3_ScaleAccel(LOAD16(data[43], data[44]));
SDL_PrivateJoystickSensor(joystick, SDL_SENSOR_ACCEL, sensor_data, SDL_arraysize(sensor_data));
SDL_PrivateJoystickSensor(joystick, SDL_SENSOR_ACCEL, 0, sensor_data, SDL_arraysize(sensor_data));
}
SDL_memcpy(ctx->last_state, data, SDL_min(size, sizeof(ctx->last_state)));

41
src/joystick/hidapi/SDL_hidapi_ps4.c
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@@ -84,23 +84,24 @@ typedef struct
Uint8 ucLeftJoystickY;
Uint8 ucRightJoystickX;
Uint8 ucRightJoystickY;
Uint8 rgucButtonsHatAndCounter[ 3 ];
Uint8 rgucButtonsHatAndCounter[3];
Uint8 ucTriggerLeft;
Uint8 ucTriggerRight;
Uint8 _rgucPad0[ 3 ];
Uint8 rgucTimestamp[2];
Uint8 _rgucPad0[1];
Uint8 rgucGyroX[2];
Uint8 rgucGyroY[2];
Uint8 rgucGyroZ[2];
Uint8 rgucAccelX[2];
Uint8 rgucAccelY[2];
Uint8 rgucAccelZ[2];
Uint8 _rgucPad1[ 5 ];
Uint8 _rgucPad1[5];
Uint8 ucBatteryLevel;
Uint8 _rgucPad2[ 4 ];
Uint8 _rgucPad2[4];
Uint8 ucTouchpadCounter1;
Uint8 rgucTouchpadData1[ 3 ];
Uint8 rgucTouchpadData1[3];
Uint8 ucTouchpadCounter2;
Uint8 rgucTouchpadData2[ 3 ];
Uint8 rgucTouchpadData2[3];
} PS4StatePacket_t;
typedef struct
@@ -147,6 +148,8 @@ typedef struct {
Uint8 led_red;
Uint8 led_green;
Uint8 led_blue;
Uint16 last_timestamp;
Uint64 timestamp;
PS4StatePacket_t last_state;
} SDL_DriverPS4_Context;
@@ -807,6 +810,7 @@ HIDAPI_DriverPS4_SetJoystickSensorsEnabled(SDL_HIDAPI_Device *device, SDL_Joysti
HIDAPI_DriverPS4_LoadCalibrationData(device);
}
ctx->report_sensors = enabled;
ctx->timestamp = 0;
return 0;
}
@@ -944,17 +948,38 @@ HIDAPI_DriverPS4_HandleStatePacket(SDL_Joystick *joystick, SDL_hid_device *dev,
}
if (ctx->report_sensors) {
Uint16 timestamp;
Uint64 timestamp_us;
float data[3];
timestamp = LOAD16(packet->rgucTimestamp[0], packet->rgucTimestamp[1]);
if (ctx->timestamp) {
Uint16 delta;
if (ctx->last_timestamp > timestamp) {
delta = (SDL_MAX_UINT16 - ctx->last_timestamp + timestamp + 1);
} else {
delta = (timestamp - ctx->last_timestamp);
}
ctx->timestamp += delta;
} else {
ctx->timestamp = timestamp;
}
ctx->last_timestamp = timestamp;
/* Sensor timestamp is in 5.33us units */
timestamp_us = (ctx->timestamp * 16) / 3;
data[0] = HIDAPI_DriverPS4_ApplyCalibrationData(ctx, 0, LOAD16(packet->rgucGyroX[0], packet->rgucGyroX[1]));
data[1] = HIDAPI_DriverPS4_ApplyCalibrationData(ctx, 1, LOAD16(packet->rgucGyroY[0], packet->rgucGyroY[1]));
data[2] = HIDAPI_DriverPS4_ApplyCalibrationData(ctx, 2, LOAD16(packet->rgucGyroZ[0], packet->rgucGyroZ[1]));
SDL_PrivateJoystickSensor(joystick, SDL_SENSOR_GYRO, data, 3);
SDL_PrivateJoystickSensor(joystick, SDL_SENSOR_GYRO, timestamp_us, data, 3);
data[0] = HIDAPI_DriverPS4_ApplyCalibrationData(ctx, 3, LOAD16(packet->rgucAccelX[0], packet->rgucAccelX[1]));
data[1] = HIDAPI_DriverPS4_ApplyCalibrationData(ctx, 4, LOAD16(packet->rgucAccelY[0], packet->rgucAccelY[1]));
data[2] = HIDAPI_DriverPS4_ApplyCalibrationData(ctx, 5, LOAD16(packet->rgucAccelZ[0], packet->rgucAccelZ[1]));
SDL_PrivateJoystickSensor(joystick, SDL_SENSOR_ACCEL, data, 3);
SDL_PrivateJoystickSensor(joystick, SDL_SENSOR_ACCEL, timestamp_us, data, 3);
}
SDL_memcpy(&ctx->last_state, packet, sizeof(ctx->last_state));

67
src/joystick/hidapi/SDL_hidapi_ps5.c
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@@ -94,6 +94,7 @@ typedef struct
Uint8 rgucAccelX[2]; /* 21 */
Uint8 rgucAccelY[2]; /* 23 */
Uint8 rgucAccelZ[2]; /* 25 */
Uint8 rgucSensorTimestamp[4]; /* 27 - 32 bit little endian */
} PS5StatePacketCommon_t;
@@ -114,8 +115,8 @@ typedef struct
Uint8 rgucAccelX[2]; /* 21 */
Uint8 rgucAccelY[2]; /* 23 */
Uint8 rgucAccelZ[2]; /* 25 */
Uint8 rgucTimer1[4]; /* 27 - 32 bit little endian */
Uint8 ucBatteryTemp; /* 31 */
Uint8 rgucSensorTimestamp[4]; /* 27 - 32 bit little endian */
Uint8 ucSensorTemp; /* 31 */
Uint8 ucTouchpadCounter1; /* 32 - high bit clear + counter */
Uint8 rgucTouchpadData1[3]; /* 33 - X/Y, 12 bits per axis */
Uint8 ucTouchpadCounter2; /* 36 - high bit clear + counter */
@@ -145,7 +146,7 @@ typedef struct
Uint8 rgucAccelX[2]; /* 21 */
Uint8 rgucAccelY[2]; /* 23 */
Uint8 rgucAccelZ[2]; /* 25 */
Uint8 rgucUnknown1[4]; /* 27 */
Uint8 rgucSensorTimestamp[4]; /* 27 - 32 bit little endian */
Uint8 ucTouchpadCounter1; /* 31 - high bit clear + counter */
Uint8 rgucTouchpadData1[3]; /* 32 - X/Y, 12 bits per axis */
Uint8 ucTouchpadCounter2; /* 35 - high bit clear + counter */
@@ -225,6 +226,8 @@ typedef struct {
Uint8 led_green;
Uint8 led_blue;
EDS5LEDResetState led_reset_state;
Uint32 last_timestamp;
Uint64 timestamp;
union
{
PS5SimpleStatePacket_t simple;
@@ -706,21 +709,21 @@ HIDAPI_DriverPS5_CheckPendingLEDReset(SDL_HIDAPI_Device *device)
SDL_DriverPS5_Context *ctx = (SDL_DriverPS5_Context *)device->context;
SDL_bool led_reset_complete = SDL_FALSE;
if (ctx->use_alternate_report) {
/* We don't know how to check the timer, just assume it's complete for now */
led_reset_complete = SDL_TRUE;
} else {
const PS5StatePacket_t *packet = &ctx->last_state.full_state;
if (ctx->sensors_supported) {
const PS5StatePacketCommon_t *packet = &ctx->last_state.state;
/* Check the timer to make sure the Bluetooth connection LED animation is complete */
const Uint32 connection_complete = 10200000;
Uint32 timer = ((Uint32)packet->rgucTimer1[0] << 0) |
((Uint32)packet->rgucTimer1[1] << 8) |
((Uint32)packet->rgucTimer1[2] << 16) |
((Uint32)packet->rgucTimer1[3] << 24);
if (SDL_TICKS_PASSED(timer, connection_complete)) {
Uint32 timestamp = LOAD32(packet->rgucSensorTimestamp[0],
packet->rgucSensorTimestamp[1],
packet->rgucSensorTimestamp[2],
packet->rgucSensorTimestamp[3]);
if (SDL_TICKS_PASSED(timestamp, connection_complete)) {
led_reset_complete = SDL_TRUE;
}
} else {
/* We don't know how to check the timer, just assume it's complete for now */
led_reset_complete = SDL_TRUE;
}
if (led_reset_complete) {
@@ -759,8 +762,14 @@ HIDAPI_DriverPS5_SetEnhancedMode(SDL_HIDAPI_Device *device, SDL_Joystick *joysti
ctx->report_touchpad = SDL_TRUE;
}
if (ctx->sensors_supported) {
SDL_PrivateJoystickAddSensor(joystick, SDL_SENSOR_GYRO, 250.0f);
SDL_PrivateJoystickAddSensor(joystick, SDL_SENSOR_ACCEL, 250.0f);
if (device->is_bluetooth) {
/* Bluetooth sensor update rate appears to be 1000 Hz */
SDL_PrivateJoystickAddSensor(joystick, SDL_SENSOR_GYRO, 1000.0f);
SDL_PrivateJoystickAddSensor(joystick, SDL_SENSOR_ACCEL, 1000.0f);
} else {
SDL_PrivateJoystickAddSensor(joystick, SDL_SENSOR_GYRO, 250.0f);
SDL_PrivateJoystickAddSensor(joystick, SDL_SENSOR_ACCEL, 250.0f);
}
}
/* Switch into enhanced report mode */
@@ -989,6 +998,7 @@ HIDAPI_DriverPS5_SetJoystickSensorsEnabled(SDL_HIDAPI_Device *device, SDL_Joysti
HIDAPI_DriverPS5_LoadCalibrationData(device);
}
ctx->report_sensors = enabled;
ctx->timestamp = 0;
return 0;
}
@@ -1180,17 +1190,40 @@ HIDAPI_DriverPS5_HandleStatePacketCommon(SDL_Joystick *joystick, SDL_hid_device
SDL_PrivateJoystickAxis(joystick, SDL_CONTROLLER_AXIS_RIGHTY, axis);
if (ctx->report_sensors) {
Uint32 timestamp;
Uint64 timestamp_us;
float data[3];
timestamp = LOAD32(packet->rgucSensorTimestamp[0],
packet->rgucSensorTimestamp[1],
packet->rgucSensorTimestamp[2],
packet->rgucSensorTimestamp[3]);
if (ctx->timestamp) {
Uint32 delta;
if (ctx->last_timestamp > timestamp) {
delta = (SDL_MAX_UINT32 - ctx->last_timestamp + timestamp + 1);
} else {
delta = (timestamp - ctx->last_timestamp);
}
ctx->timestamp += delta;
} else {
ctx->timestamp = timestamp;
}
ctx->last_timestamp = timestamp;
/* Sensor timestamp is in 0.33us units */
timestamp_us = ctx->timestamp / 3;
data[0] = HIDAPI_DriverPS5_ApplyCalibrationData(ctx, 0, LOAD16(packet->rgucGyroX[0], packet->rgucGyroX[1]));
data[1] = HIDAPI_DriverPS5_ApplyCalibrationData(ctx, 1, LOAD16(packet->rgucGyroY[0], packet->rgucGyroY[1]));
data[2] = HIDAPI_DriverPS5_ApplyCalibrationData(ctx, 2, LOAD16(packet->rgucGyroZ[0], packet->rgucGyroZ[1]));
SDL_PrivateJoystickSensor(joystick, SDL_SENSOR_GYRO, data, 3);
SDL_PrivateJoystickSensor(joystick, SDL_SENSOR_GYRO, timestamp_us, data, 3);
data[0] = HIDAPI_DriverPS5_ApplyCalibrationData(ctx, 3, LOAD16(packet->rgucAccelX[0], packet->rgucAccelX[1]));
data[1] = HIDAPI_DriverPS5_ApplyCalibrationData(ctx, 4, LOAD16(packet->rgucAccelY[0], packet->rgucAccelY[1]));
data[2] = HIDAPI_DriverPS5_ApplyCalibrationData(ctx, 5, LOAD16(packet->rgucAccelZ[0], packet->rgucAccelZ[1]));
SDL_PrivateJoystickSensor(joystick, SDL_SENSOR_ACCEL, data, 3);
SDL_PrivateJoystickSensor(joystick, SDL_SENSOR_ACCEL, timestamp_us, data, 3);
}
}

4
src/joystick/hidapi/SDL_hidapi_steam.c
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@@ -1241,12 +1241,12 @@ HIDAPI_DriverSteam_UpdateDevice(SDL_HIDAPI_Device *device)
values[0] = (ctx->m_state.sGyroX / 32768.0f) * (2000.0f * (M_PI / 180.0f));
values[1] = (ctx->m_state.sGyroZ / 32768.0f) * (2000.0f * (M_PI / 180.0f));
values[2] = (ctx->m_state.sGyroY / 32768.0f) * (2000.0f * (M_PI / 180.0f));
SDL_PrivateJoystickSensor(joystick, SDL_SENSOR_GYRO, values, 3);
SDL_PrivateJoystickSensor(joystick, SDL_SENSOR_GYRO, 0, values, 3);
values[0] = (ctx->m_state.sAccelX / 32768.0f) * 2.0f * SDL_STANDARD_GRAVITY;
values[1] = (ctx->m_state.sAccelZ / 32768.0f) * 2.0f * SDL_STANDARD_GRAVITY;
values[2] = (-ctx->m_state.sAccelY / 32768.0f) * 2.0f * SDL_STANDARD_GRAVITY;
SDL_PrivateJoystickSensor(joystick, SDL_SENSOR_ACCEL, values, 3);
SDL_PrivateJoystickSensor(joystick, SDL_SENSOR_ACCEL, 0, values, 3);
}
ctx->m_last_state = ctx->m_state;

2
src/joystick/hidapi/SDL_hidapi_switch.c
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@@ -1797,7 +1797,7 @@ static void SendSensorUpdate(SDL_Joystick *joystick, SDL_DriverSwitch_Context *c
data[0] = -tmp;
}
SDL_PrivateJoystickSensor(joystick, type, data, 3);
SDL_PrivateJoystickSensor(joystick, type, 0, data, 3);
}
static void HandleCombinedControllerStateL(SDL_Joystick *joystick, SDL_DriverSwitch_Context *ctx, SwitchStatePacket_t *packet)

6
src/joystick/hidapi/SDL_hidapi_wii.c
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@@ -1151,7 +1151,7 @@ static void HandleNunchuckButtonData(SDL_DriverWii_Context *ctx, SDL_Joystick *j
values[0] = -((float)x / ACCEL_RES_PER_G) * SDL_STANDARD_GRAVITY;
values[1] = ((float)z / ACCEL_RES_PER_G) * SDL_STANDARD_GRAVITY;
values[2] = ((float)y / ACCEL_RES_PER_G) * SDL_STANDARD_GRAVITY;
SDL_PrivateJoystickSensor(joystick, SDL_SENSOR_ACCEL_L, values, 3);
SDL_PrivateJoystickSensor(joystick, SDL_SENSOR_ACCEL_L, 0, values, 3);
}
}
@@ -1191,7 +1191,7 @@ static void HandleMotionPlusData(SDL_DriverWii_Context *ctx, SDL_Joystick *joyst
values[0] = -((float)z / GYRO_RES_PER_DEGREE) * (float)M_PI / 180.0f;
values[1] = ((float)x / GYRO_RES_PER_DEGREE) * (float)M_PI / 180.0f;
values[2] = ((float)y / GYRO_RES_PER_DEGREE) * (float)M_PI / 180.0f;
SDL_PrivateJoystickSensor(joystick, SDL_SENSOR_GYRO, values, 3);
SDL_PrivateJoystickSensor(joystick, SDL_SENSOR_GYRO, 0, values, 3);
}
}
@@ -1212,7 +1212,7 @@ static void HandleWiiRemoteAccelData(SDL_DriverWii_Context *ctx, SDL_Joystick *j
values[0] = -((float)x / ACCEL_RES_PER_G) * SDL_STANDARD_GRAVITY;
values[1] = ((float)z / ACCEL_RES_PER_G) * SDL_STANDARD_GRAVITY;
values[2] = ((float)y / ACCEL_RES_PER_G) * SDL_STANDARD_GRAVITY;
SDL_PrivateJoystickSensor(joystick, SDL_SENSOR_ACCEL, values, 3);
SDL_PrivateJoystickSensor(joystick, SDL_SENSOR_ACCEL, 0, values, 3);
}
static void HandleButtonData(SDL_DriverWii_Context *ctx, SDL_Joystick *joystick, WiiButtonData *data)

4
src/joystick/iphoneos/SDL_mfijoystick.m
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@@ -1064,14 +1064,14 @@ IOS_MFIJoystickUpdate(SDL_Joystick *joystick)
data[0] = rate.x;
data[1] = rate.z;
data[2] = -rate.y;
SDL_PrivateJoystickSensor(joystick, SDL_SENSOR_GYRO, data, 3);
SDL_PrivateJoystickSensor(joystick, SDL_SENSOR_GYRO, 0, data, 3);
}
if (motion.hasGravityAndUserAcceleration) {
GCAcceleration accel = motion.acceleration;
data[0] = -accel.x * SDL_STANDARD_GRAVITY;
data[1] = -accel.y * SDL_STANDARD_GRAVITY;
data[2] = -accel.z * SDL_STANDARD_GRAVITY;
SDL_PrivateJoystickSensor(joystick, SDL_SENSOR_ACCEL, data, 3);
SDL_PrivateJoystickSensor(joystick, SDL_SENSOR_ACCEL, 0, data, 3);
}
}
}