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Merge pull request #9757 from german77/gyro

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core: hid: Use gyro thresholds modes set by the game
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bunnei 2023-02-12 00:19:22 -08:00 committed by GitHub
commit 8b74047b1b
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GPG key ID: 4AEE18F83AFDEB23
8 changed files with 67 additions and 21 deletions
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22
src/core/hid/emulated_controller.cpp
View file

@ -957,7 +957,7 @@ void EmulatedController::SetMotion(const Common::Input::CallbackStatus& callback
raw_status.gyro.y.value,
raw_status.gyro.z.value,
});
emulated.SetGyroThreshold(raw_status.gyro.x.properties.threshold);
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;
@ -1284,6 +1284,26 @@ void EmulatedController::SetLedPattern() {
}
}
void EmulatedController::SetGyroscopeZeroDriftMode(GyroscopeZeroDriftMode mode) {
for (auto& motion : controller.motion_values) {
switch (mode) {
case GyroscopeZeroDriftMode::Loose:
motion_sensitivity = motion.emulated.IsAtRestLoose;
motion.emulated.SetGyroThreshold(motion.emulated.ThresholdLoose);
break;
case GyroscopeZeroDriftMode::Tight:
motion_sensitivity = motion.emulated.IsAtRestThight;
motion.emulated.SetGyroThreshold(motion.emulated.ThresholdThight);
break;
case GyroscopeZeroDriftMode::Standard:
default:
motion_sensitivity = motion.emulated.IsAtRestStandard;
motion.emulated.SetGyroThreshold(motion.emulated.ThresholdStandard);
break;
}
}
}
void EmulatedController::SetSupportedNpadStyleTag(NpadStyleTag supported_styles) {
supported_style_tag = supported_styles;
if (!is_connected) {

5
src/core/hid/emulated_controller.h
View file

@ -398,6 +398,9 @@ public:
/// Asks the output device to change the player led pattern
void SetLedPattern();
/// Changes sensitivity of the motion sensor
void SetGyroscopeZeroDriftMode(GyroscopeZeroDriftMode mode);
/**
* Adds a callback to the list of events
* @param update_callback A ConsoleUpdateCallback that will be triggered
@ -523,7 +526,7 @@ private:
bool is_connected{false};
bool is_configuring{false};
bool system_buttons_enabled{true};
f32 motion_sensitivity{0.01f};
f32 motion_sensitivity{Core::HID::MotionInput::IsAtRestStandard};
bool force_update_motion{false};
u32 turbo_button_state{0};

7
src/core/hid/hid_types.h
View file

@ -282,6 +282,13 @@ enum class VibrationGcErmCommand : u64 {
StopHard = 2,
};
// This is nn::hid::GyroscopeZeroDriftMode
enum class GyroscopeZeroDriftMode : u32 {
Loose = 0,
Standard = 1,
Tight = 2,
};
// This is nn::hid::NpadStyleTag
struct NpadStyleTag {
union {

12
src/core/hid/motion_input.cpp
View file

@ -9,7 +9,7 @@ namespace Core::HID {
MotionInput::MotionInput() {
// Initialize PID constants with default values
SetPID(0.3f, 0.005f, 0.0f);
SetGyroThreshold(0.007f);
SetGyroThreshold(ThresholdStandard);
}
void MotionInput::SetPID(f32 new_kp, f32 new_ki, f32 new_kd) {
@ -26,11 +26,11 @@ void MotionInput::SetGyroscope(const Common::Vec3f& gyroscope) {
gyro = gyroscope - gyro_bias;
// Auto adjust drift to minimize drift
if (!IsMoving(0.1f)) {
if (!IsMoving(IsAtRestRelaxed)) {
gyro_bias = (gyro_bias * 0.9999f) + (gyroscope * 0.0001f);
}
if (gyro.Length() < gyro_threshold) {
if (gyro.Length() < gyro_threshold * user_gyro_threshold) {
gyro = {};
} else {
only_accelerometer = false;
@ -49,6 +49,10 @@ void MotionInput::SetGyroThreshold(f32 threshold) {
gyro_threshold = threshold;
}
void MotionInput::SetUserGyroThreshold(f32 threshold) {
user_gyro_threshold = threshold / ThresholdStandard;
}
void MotionInput::EnableReset(bool reset) {
reset_enabled = reset;
}
@ -208,7 +212,7 @@ void MotionInput::ResetOrientation() {
if (!reset_enabled || only_accelerometer) {
return;
}
if (!IsMoving(0.5f) && accel.z <= -0.9f) {
if (!IsMoving(IsAtRestRelaxed) && accel.z <= -0.9f) {
++reset_counter;
if (reset_counter > 900) {
quat.w = 0;

15
src/core/hid/motion_input.h
View file

@ -11,6 +11,15 @@ namespace Core::HID {
class MotionInput {
public:
static constexpr float ThresholdLoose = 0.01f;
static constexpr float ThresholdStandard = 0.007f;
static constexpr float ThresholdThight = 0.002f;
static constexpr float IsAtRestRelaxed = 0.05f;
static constexpr float IsAtRestLoose = 0.02f;
static constexpr float IsAtRestStandard = 0.01f;
static constexpr float IsAtRestThight = 0.005f;
explicit MotionInput();
MotionInput(const MotionInput&) = default;
@ -26,6 +35,9 @@ public:
void SetGyroBias(const Common::Vec3f& bias);
void SetGyroThreshold(f32 threshold);
/// Applies a modifier on top of the normal gyro threshold
void SetUserGyroThreshold(f32 threshold);
void EnableReset(bool reset);
void ResetRotations();
@ -74,6 +86,9 @@ private:
// Minimum gyro amplitude to detect if the device is moving
f32 gyro_threshold = 0.0f;
// Multiplies gyro_threshold by this value
f32 user_gyro_threshold = 0.0f;
// Number of invalid sequential data
u32 reset_counter = 0;

7
src/core/hle/service/hid/controllers/npad.cpp
View file

@ -1132,7 +1132,8 @@ Result Controller_NPad::DisconnectNpad(Core::HID::NpadIdType npad_id) {
return ResultSuccess;
}
Result Controller_NPad::SetGyroscopeZeroDriftMode(
const Core::HID::SixAxisSensorHandle& sixaxis_handle, GyroscopeZeroDriftMode drift_mode) {
const Core::HID::SixAxisSensorHandle& sixaxis_handle,
Core::HID::GyroscopeZeroDriftMode drift_mode) {
const auto is_valid = VerifyValidSixAxisSensorHandle(sixaxis_handle);
if (is_valid.IsError()) {
LOG_ERROR(Service_HID, "Invalid handle, error_code={}", is_valid.raw);
@ -1140,14 +1141,16 @@ Result Controller_NPad::SetGyroscopeZeroDriftMode(
}
auto& sixaxis = GetSixaxisState(sixaxis_handle);
auto& controller = GetControllerFromHandle(sixaxis_handle);
sixaxis.gyroscope_zero_drift_mode = drift_mode;
controller.device->SetGyroscopeZeroDriftMode(drift_mode);
return ResultSuccess;
}
Result Controller_NPad::GetGyroscopeZeroDriftMode(
const Core::HID::SixAxisSensorHandle& sixaxis_handle,
GyroscopeZeroDriftMode& drift_mode) const {
Core::HID::GyroscopeZeroDriftMode& drift_mode) const {
const auto is_valid = VerifyValidSixAxisSensorHandle(sixaxis_handle);
if (is_valid.IsError()) {
LOG_ERROR(Service_HID, "Invalid handle, error_code={}", is_valid.raw);

14
src/core/hle/service/hid/controllers/npad.h
View file

@ -52,13 +52,6 @@ public:
// When the controller is requesting a motion update for the shared memory
void OnMotionUpdate(const Core::Timing::CoreTiming& core_timing) override;
// This is nn::hid::GyroscopeZeroDriftMode
enum class GyroscopeZeroDriftMode : u32 {
Loose = 0,
Standard = 1,
Tight = 2,
};
// This is nn::hid::NpadJoyHoldType
enum class NpadJoyHoldType : u64 {
Vertical = 0,
@ -146,9 +139,9 @@ public:
Result DisconnectNpad(Core::HID::NpadIdType npad_id);
Result SetGyroscopeZeroDriftMode(const Core::HID::SixAxisSensorHandle& sixaxis_handle,
GyroscopeZeroDriftMode drift_mode);
Core::HID::GyroscopeZeroDriftMode drift_mode);
Result GetGyroscopeZeroDriftMode(const Core::HID::SixAxisSensorHandle& sixaxis_handle,
GyroscopeZeroDriftMode& drift_mode) const;
Core::HID::GyroscopeZeroDriftMode& drift_mode) const;
Result IsSixAxisSensorAtRest(const Core::HID::SixAxisSensorHandle& sixaxis_handle,
bool& is_at_rest) const;
Result IsFirmwareUpdateAvailableForSixAxisSensor(
@ -489,7 +482,8 @@ private:
Core::HID::SixAxisSensorFusionParameters fusion{};
Core::HID::SixAxisSensorCalibrationParameter calibration{};
Core::HID::SixAxisSensorIcInformation ic_information{};
GyroscopeZeroDriftMode gyroscope_zero_drift_mode{GyroscopeZeroDriftMode::Standard};
Core::HID::GyroscopeZeroDriftMode gyroscope_zero_drift_mode{
Core::HID::GyroscopeZeroDriftMode::Standard};
};
struct NpadControllerData {

6
src/core/hle/service/hid/hid.cpp
View file

@ -712,7 +712,7 @@ void Hid::ResetSixAxisSensorFusionParameters(Kernel::HLERequestContext& ctx) {
void Hid::SetGyroscopeZeroDriftMode(Kernel::HLERequestContext& ctx) {
IPC::RequestParser rp{ctx};
const auto sixaxis_handle{rp.PopRaw<Core::HID::SixAxisSensorHandle>()};
const auto drift_mode{rp.PopEnum<Controller_NPad::GyroscopeZeroDriftMode>()};
const auto drift_mode{rp.PopEnum<Core::HID::GyroscopeZeroDriftMode>()};
const auto applet_resource_user_id{rp.Pop<u64>()};
auto& controller = GetAppletResource()->GetController<Controller_NPad>(HidController::NPad);
@ -739,7 +739,7 @@ void Hid::GetGyroscopeZeroDriftMode(Kernel::HLERequestContext& ctx) {
const auto parameters{rp.PopRaw<Parameters>()};
auto drift_mode{Controller_NPad::GyroscopeZeroDriftMode::Standard};
auto drift_mode{Core::HID::GyroscopeZeroDriftMode::Standard};
auto& controller = GetAppletResource()->GetController<Controller_NPad>(HidController::NPad);
const auto result = controller.GetGyroscopeZeroDriftMode(parameters.sixaxis_handle, drift_mode);
@ -764,7 +764,7 @@ void Hid::ResetGyroscopeZeroDriftMode(Kernel::HLERequestContext& ctx) {
const auto parameters{rp.PopRaw<Parameters>()};
const auto drift_mode{Controller_NPad::GyroscopeZeroDriftMode::Standard};
const auto drift_mode{Core::HID::GyroscopeZeroDriftMode::Standard};
auto& controller = GetAppletResource()->GetController<Controller_NPad>(HidController::NPad);
const auto result = controller.SetGyroscopeZeroDriftMode(parameters.sixaxis_handle, drift_mode);