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Merge pull request #7481 from german77/gyro-bias

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service/hid: Improve console motion accuracy
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bunnei 2021-12-21 00:13:54 -08:00 • committed by GitHub
commit 5e24f7ed31
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GPG key ID: 4AEE18F83AFDEB23
6 changed files with 32 additions and 20 deletions
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20
src/core/hle/service/hid/controllers/console_sixaxis.cpp
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@ -33,15 +33,14 @@ void Controller_ConsoleSixAxis::OnUpdate(const Core::Timing::CoreTiming& core_ti
const auto& last_entry = seven_sixaxis_lifo.ReadCurrentEntry().state;
next_seven_sixaxis_state.sampling_number = last_entry.sampling_number + 1;
// Try to read sixaxis sensor states
const auto motion_status = console->GetMotion();
last_global_timestamp = core_timing.GetGlobalTimeNs().count();
console_six_axis.is_seven_six_axis_sensor_at_rest = motion_status.is_at_rest;
// This value increments every time the switch goes to sleep
next_seven_sixaxis_state.unknown = 1;
next_seven_sixaxis_state.timestamp = last_global_timestamp - last_saved_timestamp;
next_seven_sixaxis_state.accel = motion_status.accel;
// Zero gyro values as they just mess up with the camera
// Note: Probably a correct sensivity setting must be set
next_seven_sixaxis_state.gyro = {};
next_seven_sixaxis_state.gyro = motion_status.gyro;
next_seven_sixaxis_state.quaternion = {
{
motion_status.quaternion.xyz.y,
@ -52,9 +51,9 @@ void Controller_ConsoleSixAxis::OnUpdate(const Core::Timing::CoreTiming& core_ti
};
console_six_axis.sampling_number++;
// TODO(German77): Find the purpose of those values
console_six_axis.verticalization_error = 0.0f;
console_six_axis.gyro_bias = {0.0f, 0.0f, 0.0f};
console_six_axis.is_seven_six_axis_sensor_at_rest = motion_status.is_at_rest;
console_six_axis.verticalization_error = motion_status.verticalization_error;
console_six_axis.gyro_bias = motion_status.gyro_bias;
// Update console six axis shared memory
std::memcpy(data + SHARED_MEMORY_OFFSET, &console_six_axis, sizeof(console_six_axis));
@ -69,7 +68,6 @@ void Controller_ConsoleSixAxis::SetTransferMemoryPointer(u8* t_mem) {
}
void Controller_ConsoleSixAxis::ResetTimestamp() {
seven_sixaxis_lifo.buffer_count = 0;
seven_sixaxis_lifo.buffer_tail = 0;
last_saved_timestamp = last_global_timestamp;
}
} // namespace Service::HID

10
src/core/hle/service/hid/controllers/console_sixaxis.h
View file

@ -39,8 +39,9 @@ public:
private:
struct SevenSixAxisState {
INSERT_PADDING_WORDS(4); // unused
s64 sampling_number{};
INSERT_PADDING_WORDS(2); // unused
u64 timestamp{};
u64 sampling_number{};
u64 unknown{};
Common::Vec3f accel{};
Common::Vec3f gyro{};
@ -52,9 +53,10 @@ private:
struct ConsoleSharedMemory {
u64 sampling_number{};
bool is_seven_six_axis_sensor_at_rest{};
INSERT_PADDING_BYTES(4); // padding
INSERT_PADDING_BYTES(3); // padding
f32 verticalization_error{};
Common::Vec3f gyro_bias{};
INSERT_PADDING_BYTES(4); // padding
};
static_assert(sizeof(ConsoleSharedMemory) == 0x20, "ConsoleSharedMemory is an invalid size");
@ -64,6 +66,8 @@ private:
Core::HID::EmulatedConsole* console;
u8* transfer_memory = nullptr;
bool is_transfer_memory_set = false;
u64 last_saved_timestamp{};
u64 last_global_timestamp{};
ConsoleSharedMemory console_six_axis{};
SevenSixAxisState next_seven_sixaxis_state{};
};