HID: use MotionDevice for Accelerometer and Gyroscope

This commit is contained in:
wwylele 2017-08-06 22:54:19 +03:00
parent 53ef90d1bd
commit 867eabd6b7
3 changed files with 48 additions and 5 deletions

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@ -11,6 +11,7 @@
#include <utility> #include <utility>
#include "common/logging/log.h" #include "common/logging/log.h"
#include "common/param_package.h" #include "common/param_package.h"
#include "common/vector_math.h"
namespace Input { namespace Input {
@ -107,4 +108,23 @@ using ButtonDevice = InputDevice<bool>;
*/ */
using AnalogDevice = InputDevice<std::tuple<float, float>>; using AnalogDevice = InputDevice<std::tuple<float, float>>;
/**
* A motion device is an input device that returns a tuple of accelerometer state vector and
* gyroscope state vector.
*
* For accelerometer state vector:
* x+ is the same direction as LEFT on D-pad.
* y+ is normal to the touch screen, pointing outward.
* z+ is the same direction as UP on D-pad.
* Units: measured in unit of gravitational acceleration
*
* For gyroscope state vector:
* x+ is the same direction as LEFT on D-pad.
* y+ is normal to the touch screen, pointing outward.
* z+ is the same direction as UP on D-pad.
* Orientation is determined by right-hand rule.
* Units: deg/sec
*/
using MotionDevice = InputDevice<std::tuple<Math::Vec3<float>, Math::Vec3<float>>>;
} // namespace Input } // namespace Input

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@ -7,6 +7,7 @@
#include <cmath> #include <cmath>
#include <memory> #include <memory>
#include "common/logging/log.h" #include "common/logging/log.h"
#include "core/core.h"
#include "core/core_timing.h" #include "core/core_timing.h"
#include "core/frontend/emu_window.h" #include "core/frontend/emu_window.h"
#include "core/frontend/input.h" #include "core/frontend/input.h"
@ -50,10 +51,14 @@ constexpr u64 pad_update_ticks = BASE_CLOCK_RATE_ARM11 / 234;
constexpr u64 accelerometer_update_ticks = BASE_CLOCK_RATE_ARM11 / 104; constexpr u64 accelerometer_update_ticks = BASE_CLOCK_RATE_ARM11 / 104;
constexpr u64 gyroscope_update_ticks = BASE_CLOCK_RATE_ARM11 / 101; constexpr u64 gyroscope_update_ticks = BASE_CLOCK_RATE_ARM11 / 101;
constexpr float accelerometer_coef = 512.0f; // measured from hw test result
constexpr float gyroscope_coef = 14.375f; // got from hwtest GetGyroscopeLowRawToDpsCoefficient call
static std::atomic<bool> is_device_reload_pending; static std::atomic<bool> is_device_reload_pending;
static std::array<std::unique_ptr<Input::ButtonDevice>, Settings::NativeButton::NUM_BUTTONS_HID> static std::array<std::unique_ptr<Input::ButtonDevice>, Settings::NativeButton::NUM_BUTTONS_HID>
buttons; buttons;
static std::unique_ptr<Input::AnalogDevice> circle_pad; static std::unique_ptr<Input::AnalogDevice> circle_pad;
static std::unique_ptr<Input::MotionDevice> motion_device;
DirectionState GetStickDirectionState(s16 circle_pad_x, s16 circle_pad_y) { DirectionState GetStickDirectionState(s16 circle_pad_x, s16 circle_pad_y) {
// 30 degree and 60 degree are angular thresholds for directions // 30 degree and 60 degree are angular thresholds for directions
@ -90,6 +95,7 @@ static void LoadInputDevices() {
buttons.begin(), Input::CreateDevice<Input::ButtonDevice>); buttons.begin(), Input::CreateDevice<Input::ButtonDevice>);
circle_pad = Input::CreateDevice<Input::AnalogDevice>( circle_pad = Input::CreateDevice<Input::AnalogDevice>(
Settings::values.analogs[Settings::NativeAnalog::CirclePad]); Settings::values.analogs[Settings::NativeAnalog::CirclePad]);
motion_device = Input::CreateDevice<Input::MotionDevice>(Settings::values.motion_device);
} }
static void UnloadInputDevices() { static void UnloadInputDevices() {
@ -97,6 +103,7 @@ static void UnloadInputDevices() {
button.reset(); button.reset();
} }
circle_pad.reset(); circle_pad.reset();
motion_device.reset();
} }
static void UpdatePadCallback(u64 userdata, int cycles_late) { static void UpdatePadCallback(u64 userdata, int cycles_late) {
@ -193,10 +200,19 @@ static void UpdateAccelerometerCallback(u64 userdata, int cycles_late) {
mem->accelerometer.index = next_accelerometer_index; mem->accelerometer.index = next_accelerometer_index;
next_accelerometer_index = (next_accelerometer_index + 1) % mem->accelerometer.entries.size(); next_accelerometer_index = (next_accelerometer_index + 1) % mem->accelerometer.entries.size();
Math::Vec3<float> accel;
std::tie(accel, std::ignore) = motion_device->GetStatus();
accel *= accelerometer_coef;
// TODO(wwylele): do a time stretch as it in UpdateGyroscopeCallback
// The time stretch formula should be like
// stretched_vector = (raw_vector - gravity) * stretch_ratio + gravity
AccelerometerDataEntry& accelerometer_entry = AccelerometerDataEntry& accelerometer_entry =
mem->accelerometer.entries[mem->accelerometer.index]; mem->accelerometer.entries[mem->accelerometer.index];
std::tie(accelerometer_entry.x, accelerometer_entry.y, accelerometer_entry.z) =
VideoCore::g_emu_window->GetAccelerometerState(); accelerometer_entry.x = static_cast<s16>(accel.x);
accelerometer_entry.y = static_cast<s16>(accel.y);
accelerometer_entry.z = static_cast<s16>(accel.z);
// Make up "raw" entry // Make up "raw" entry
// TODO(wwylele): // TODO(wwylele):
@ -227,8 +243,14 @@ static void UpdateGyroscopeCallback(u64 userdata, int cycles_late) {
next_gyroscope_index = (next_gyroscope_index + 1) % mem->gyroscope.entries.size(); next_gyroscope_index = (next_gyroscope_index + 1) % mem->gyroscope.entries.size();
GyroscopeDataEntry& gyroscope_entry = mem->gyroscope.entries[mem->gyroscope.index]; GyroscopeDataEntry& gyroscope_entry = mem->gyroscope.entries[mem->gyroscope.index];
std::tie(gyroscope_entry.x, gyroscope_entry.y, gyroscope_entry.z) =
VideoCore::g_emu_window->GetGyroscopeState(); Math::Vec3<float> gyro;
std::tie(std::ignore, gyro) = motion_device->GetStatus();
float stretch = Core::System::GetInstance().perf_stats.GetLastFrameTimeScale();
gyro *= gyroscope_coef * stretch;
gyroscope_entry.x = static_cast<s16>(gyro.x);
gyroscope_entry.y = static_cast<s16>(gyro.y);
gyroscope_entry.z = static_cast<s16>(gyro.z);
// Make up "raw" entry // Make up "raw" entry
mem->gyroscope.raw_entry.x = gyroscope_entry.x; mem->gyroscope.raw_entry.x = gyroscope_entry.x;
@ -326,7 +348,7 @@ void GetGyroscopeLowRawToDpsCoefficient(Service::Interface* self) {
cmd_buff[1] = RESULT_SUCCESS.raw; cmd_buff[1] = RESULT_SUCCESS.raw;
f32 coef = VideoCore::g_emu_window->GetGyroscopeRawToDpsCoefficient(); f32 coef = gyroscope_coef;
memcpy(&cmd_buff[2], &coef, 4); memcpy(&cmd_buff[2], &coef, 4);
} }

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@ -79,6 +79,7 @@ struct Values {
// Controls // Controls
std::array<std::string, NativeButton::NumButtons> buttons; std::array<std::string, NativeButton::NumButtons> buttons;
std::array<std::string, NativeAnalog::NumAnalogs> analogs; std::array<std::string, NativeAnalog::NumAnalogs> analogs;
std::string motion_device;
// Core // Core
bool use_cpu_jit; bool use_cpu_jit;