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HandmadeHero/project/dependencies/JoyShockLibrary/InputHelpers.cpp
Ed_ 5cfbc204a7 Day 19 complete
2023-09-23 21:16:10 -04:00

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#include "JoyShockLibrary.h"
#include "JoyShock.cpp"
#include <cmath>
bool handle_input(JoyShock *jc, uint8_t *packet, int len, bool &hasIMU) {
hasIMU = true;
if (packet[0] == 0) return false; // ignore non-responses
// remember last input
//printf("%d: %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x\n",
// jc->left_right,
// packet[0], packet[1], packet[2], packet[3], packet[4], packet[5], packet[6], packet[7], packet[8], packet[9],
// packet[10], packet[11], packet[12], packet[13], packet[14], packet[15], packet[16], packet[17], packet[18], packet[19], packet[20]);
jc->last_simple_state = jc->simple_state;
jc->simple_state.buttons = 0;
jc->last_imu_state = jc->imu_state;
IMU_STATE imu_state;
// delta time
auto time_now = std::chrono::steady_clock::now();
jc->delta_time = (float)(std::chrono::duration_cast<std::chrono::microseconds>(time_now - jc->last_polled).count() / 1000000.0);
jc->last_polled = time_now;
if (jc->cue_motion_reset)
{
//printf("RESET motion\n");
jc->cue_motion_reset = false;
jc->motion.Reset();
}
if (jc->motion.GetCalibrationMode() == GamepadMotionHelpers::CalibrationMode::Manual)
{
if (jc->use_continuous_calibration)
{
jc->motion.StartContinuousCalibration();
}
else
{
jc->motion.PauseContinuousCalibration();
}
}
// ds4
if (jc->controller_type == ControllerType::s_ds4) {
int indexOffset = 0;
bool isValid = true;
if (!jc->is_usb) {
isValid = packet[0] == 0x11;
indexOffset = 2;
}
else {
isValid = packet[0] == 0x01;
if (isValid && (packet[31] & 0x04) == 0x04)
return false; // ignore packets from Dongle with no connected controller
}
if (isValid) {
// Gyroscope:
// Gyroscope data is relative (degrees/s)
int16_t gyroSampleX = uint16_to_int16(packet[indexOffset+13] | (packet[indexOffset+14] << 8) & 0xFF00);
int16_t gyroSampleY = uint16_to_int16(packet[indexOffset+15] | (packet[indexOffset+16] << 8) & 0xFF00);
int16_t gyroSampleZ = uint16_to_int16(packet[indexOffset+17] | (packet[indexOffset+18] << 8) & 0xFF00);
int16_t accelSampleX = uint16_to_int16(packet[indexOffset+19] | (packet[indexOffset+20] << 8) & 0xFF00);
int16_t accelSampleY = uint16_to_int16(packet[indexOffset+21] | (packet[indexOffset+22] << 8) & 0xFF00);
int16_t accelSampleZ = uint16_to_int16(packet[indexOffset+23] | (packet[indexOffset+24] << 8) & 0xFF00);
if ((gyroSampleX | gyroSampleY | gyroSampleZ | accelSampleX | accelSampleY | accelSampleZ) == 0)
{
// all zero?
hasIMU = false;
}
// convert to real units
imu_state.gyroX = (float)(gyroSampleX) * (2000.0f / 32767.0f);
imu_state.gyroY = (float)(gyroSampleY) * (2000.0f / 32767.0f);
imu_state.gyroZ = (float)(gyroSampleZ) * (2000.0f / 32767.0f);
imu_state.accelX = (float)(accelSampleX) / 8192.0f;
imu_state.accelY = (float)(accelSampleY) / 8192.0f;
imu_state.accelZ = (float)(accelSampleZ) / 8192.0f;
//printf("DS4 accel: %.4f, %.4f, %.4f\n", imu_state.accelX, imu_state.accelY, imu_state.accelZ);
//printf("%.4f,%.4f,%.4f,%.4f,%.4f,%.4f,%d\n",
// jc->gyro.yaw, jc->gyro.pitch, jc->gyro.roll, jc->accel.x, jc->accel.y, jc->accel.z, universal_counter++);
// Touchpad:
jc->last_touch_state = jc->touch_state;
jc->touch_state.t0Id = (int)(packet[indexOffset+35] & 0x7F);
jc->touch_state.t1Id = (int)(packet[indexOffset+39] & 0x7F);
jc->touch_state.t0Down = (packet[indexOffset+35] & 0x80) == 0;
jc->touch_state.t1Down = (packet[indexOffset+39] & 0x80) == 0;
jc->touch_state.t0X = (packet[indexOffset+36] | (packet[indexOffset+37] & 0x0F) << 8) / 1920.0f;
jc->touch_state.t0Y = ((packet[indexOffset+37] & 0xF0) >> 4 | packet[indexOffset+38] << 4) / 943.0f;
jc->touch_state.t1X = (packet[indexOffset+40] | (packet[indexOffset+41] & 0x0F) << 8) / 1920.0f;
jc->touch_state.t1Y = ((packet[indexOffset+41] & 0xF0) >> 4 | packet[indexOffset+42] << 4) / 943.0f;
//printf("DS4 touch: %d, %d, %d, %d, %.4f, %.4f, %.4f, %.4f\n",
// jc->touch_state.t0Id, jc->touch_state.t1Id, jc->touch_state.t0Down, jc->touch_state.t1Down,
// jc->touch_state.t0X, jc->touch_state.t0Y, jc->touch_state.t1X, jc->touch_state.t1Y);
// DS4 dpad is a hat... 0x08 is released, 0=N, 1=NE, 2=E, 3=SE, 4=S, 5=SW, 6=W, 7=NW
// http://eleccelerator.com/wiki/index.php?title=DualShock_4
uint8_t hat = packet[indexOffset+5] & 0x0f;
if ((hat > 2) & (hat < 6)) jc->simple_state.buttons |= JSMASK_DOWN; // down = SE | S | SW
if ((hat == 7) | (hat < 2)) jc->simple_state.buttons |= JSMASK_UP; // up = N | NE | NW
if ((hat > 0) & (hat < 4)) jc->simple_state.buttons |= JSMASK_RIGHT; // right = NE | E | SE
if ((hat > 4) & (hat < 8)) jc->simple_state.buttons |= JSMASK_LEFT; // left = SW | W | NW
jc->simple_state.buttons |= ((int)(packet[indexOffset+5] >> 4) << JSOFFSET_W) & JSMASK_W;
jc->simple_state.buttons |= ((int)(packet[indexOffset+5] >> 7) << JSOFFSET_N) & JSMASK_N;
jc->simple_state.buttons |= ((int)(packet[indexOffset+5] >> 5) << JSOFFSET_S) & JSMASK_S;
jc->simple_state.buttons |= ((int)(packet[indexOffset+5] >> 6) << JSOFFSET_E) & JSMASK_E;
jc->simple_state.buttons |= ((int)(packet[indexOffset+6] >> 6) << JSOFFSET_LCLICK) & JSMASK_LCLICK;
jc->simple_state.buttons |= ((int)(packet[indexOffset+6] >> 7) << JSOFFSET_RCLICK) & JSMASK_RCLICK;
jc->simple_state.buttons |= ((int)(packet[indexOffset+6] >> 5) << JSOFFSET_OPTIONS) & JSMASK_OPTIONS;
jc->simple_state.buttons |= ((int)(packet[indexOffset+6] >> 4) << JSOFFSET_SHARE) & JSMASK_SHARE;
jc->simple_state.buttons |= ((int)(packet[indexOffset+6] >> 1) << JSOFFSET_R) & JSMASK_R;
jc->simple_state.buttons |= ((int)(packet[indexOffset+6]) << JSOFFSET_L) & JSMASK_L;
jc->simple_state.buttons |= ((int)(packet[indexOffset+7]) << JSOFFSET_PS) & JSMASK_PS;
jc->simple_state.buttons |= ((int)(packet[indexOffset+7] >> 1) << JSOFFSET_TOUCHPAD_CLICK) & JSMASK_TOUCHPAD_CLICK;
//jc->btns.zr = (packet[indexOffset+6] >> 3) & 1;
//jc->btns.zl = (packet[indexOffset+6] >> 2) & 1;
jc->simple_state.rTrigger = packet[indexOffset+9] / 255.0f;
jc->simple_state.lTrigger = packet[indexOffset+8] / 255.0f;
if (jc->simple_state.rTrigger > 0.0) jc->simple_state.buttons |= JSMASK_ZR;
if (jc->simple_state.lTrigger > 0.0) jc->simple_state.buttons |= JSMASK_ZL;
uint16_t stick_x = packet[indexOffset+1];
uint16_t stick_y = packet[indexOffset+2];
stick_y = 255 - stick_y;
uint16_t stick2_x = packet[indexOffset+3];
uint16_t stick2_y = packet[indexOffset+4];
stick2_y = 255 - stick2_y;
jc->simple_state.stickLX = (std::fmin)(1.0f, (stick_x - 127.0f) / 127.0f);
jc->simple_state.stickLY = (std::fmin)(1.0f, (stick_y - 127.0f) / 127.0f);
jc->simple_state.stickRX = (std::fmin)(1.0f, (stick2_x - 127.0f) / 127.0f);
jc->simple_state.stickRY = (std::fmin)(1.0f, (stick2_y - 127.0f) / 127.0f);
jc->modifying_lock.lock();
jc->push_sensor_samples(imu_state.gyroX, imu_state.gyroY, imu_state.gyroZ,
imu_state.accelX, imu_state.accelY, imu_state.accelZ, jc->delta_time);
jc->get_calibrated_gyro(imu_state.gyroX, imu_state.gyroY, imu_state.gyroZ);
jc->modifying_lock.unlock();
jc->imu_state = imu_state;
}
//printf("Buttons: %d LX: %.5f LY: %.5f RX: %.5f RY: %.5f GX: %.4f GY: %.4f GZ: %.4f\n", \
// jc->simple_state.buttons, (jc->simple_state.stickLX + 1), (jc->simple_state.stickLY + 1), (jc->simple_state.stickRX + 1), (jc->simple_state.stickRY + 1), jc->imu_state.gyroX, jc->imu_state.gyroY, jc->imu_state.gyroZ);
return true;
}
if (jc->controller_type == ControllerType::s_ds) {
//printf("%02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x %02x\n",
// packet[0], packet[1], packet[2], packet[3], packet[4], packet[5], packet[6], packet[7], packet[8], packet[9],
// packet[10], packet[11], packet[12], packet[13], packet[14], packet[15], packet[16], packet[17], packet[18], packet[19], packet[20],
// packet[21], packet[22], packet[23], packet[24], packet[25], packet[26], packet[27], packet[28], packet[29], packet[30],
// packet[31], packet[32], packet[33], packet[34], packet[35], packet[36], packet[37], packet[38], packet[39], packet[40],
// packet[41], packet[42], packet[43], packet[44], packet[45], packet[46], packet[47], packet[48], packet[49], packet[50]);
int indexOffset = 1;
if(!jc->is_usb) {
indexOffset = 2;
}
// Gyroscope:
// Gyroscope data is relative (degrees/s)
int16_t gyroSampleX = uint16_to_int16(packet[indexOffset + 15] | (packet[indexOffset + 16] << 8) & 0xFF00);
int16_t gyroSampleY = uint16_to_int16(packet[indexOffset + 17] | (packet[indexOffset + 18] << 8) & 0xFF00);
int16_t gyroSampleZ = uint16_to_int16(packet[indexOffset + 19] | (packet[indexOffset + 20] << 8) & 0xFF00);
int16_t accelSampleX = uint16_to_int16(packet[indexOffset + 21] | (packet[indexOffset + 22] << 8) & 0xFF00);
int16_t accelSampleY = uint16_to_int16(packet[indexOffset + 23] | (packet[indexOffset + 24] << 8) & 0xFF00);
int16_t accelSampleZ = uint16_to_int16(packet[indexOffset + 25] | (packet[indexOffset + 26] << 8) & 0xFF00);
if ((gyroSampleX | gyroSampleY | gyroSampleZ | accelSampleX | accelSampleY | accelSampleZ) == 0) {
// all zero?
hasIMU = false;
}
// convert to real units
imu_state.gyroX = (float) (gyroSampleX) * (2000.0f / 32767.0f);
imu_state.gyroY = (float) (gyroSampleY) * (2000.0f / 32767.0f);
imu_state.gyroZ = (float) (gyroSampleZ) * (2000.0f / 32767.0f);
imu_state.accelX = (float) (accelSampleX) / 8192.0f;
imu_state.accelY = (float) (accelSampleY) / 8192.0f;
imu_state.accelZ = (float) (accelSampleZ) / 8192.0f;
//printf("DS accel: %.4f, %.4f, %.4f\n", imu_state.accelX, imu_state.accelY, imu_state.accelZ);
//printf("%.4f,%.4f,%.4f,%.4f,%.4f,%.4f,%d\n",
// jc->gyro.yaw, jc->gyro.pitch, jc->gyro.roll, jc->accel.x, jc->accel.y, jc->accel.z, universal_counter++);
// Touchpad:
jc->last_touch_state = jc->touch_state;
jc->touch_state.t0Id = (int) (packet[indexOffset + 32] & 0x7F);
jc->touch_state.t1Id = (int) (packet[indexOffset + 36] & 0x7F);
jc->touch_state.t0Down = (packet[indexOffset + 32] & 0x80) == 0;
jc->touch_state.t1Down = (packet[indexOffset + 36] & 0x80) == 0;
jc->touch_state.t0X = (packet[indexOffset + 33] | (packet[indexOffset + 34] & 0x0F) << 8) / 1920.0f;
jc->touch_state.t0Y = ((packet[indexOffset + 34] & 0xF0) >> 4 | packet[indexOffset + 35] << 4) / 943.0f;
jc->touch_state.t1X = (packet[indexOffset + 37] | (packet[indexOffset + 38] & 0x0F) << 8) / 1920.0f;
jc->touch_state.t1Y = ((packet[indexOffset + 38] & 0xF0) >> 4 | packet[indexOffset + 39] << 4) / 943.0f;
//printf("DS touch: %d, %d, %d, %d, %.4f, %.4f, %.4f, %.4f\n",
// jc->touch_state.t0Id, jc->touch_state.t1Id, jc->touch_state.t0Down, jc->touch_state.t1Down,
// jc->touch_state.t0X, jc->touch_state.t0Y, jc->touch_state.t1X, jc->touch_state.t1Y);
// DS dpad is a hat... 0x08 is released, 0=N, 1=NE, 2=E, 3=SE, 4=S, 5=SW, 6=W, 7=NW
// http://eleccelerator.com/wiki/index.php?title=DualShock_4
uint8_t hat = packet[indexOffset + 7] & 0x0f;
if ((hat > 2) & (hat < 6)) jc->simple_state.buttons |= JSMASK_DOWN; // down = SE | S | SW
if ((hat == 7) | (hat < 2)) jc->simple_state.buttons |= JSMASK_UP; // up = N | NE | NW
if ((hat > 0) & (hat < 4)) jc->simple_state.buttons |= JSMASK_RIGHT; // right = NE | E | SE
if ((hat > 4) & (hat < 8)) jc->simple_state.buttons |= JSMASK_LEFT; // left = SW | W | NW
jc->simple_state.buttons |= ((int) (packet[indexOffset + 7] >> 4) << JSOFFSET_W) & JSMASK_W;
jc->simple_state.buttons |= ((int) (packet[indexOffset + 7] >> 5) << JSOFFSET_S) & JSMASK_S;
jc->simple_state.buttons |= ((int) (packet[indexOffset + 7] >> 6) << JSOFFSET_E) & JSMASK_E;
jc->simple_state.buttons |= ((int) (packet[indexOffset + 7] >> 7) << JSOFFSET_N) & JSMASK_N;
jc->simple_state.buttons |= ((int) (packet[indexOffset + 8] >> 6) << JSOFFSET_LCLICK) & JSMASK_LCLICK;
jc->simple_state.buttons |= ((int) (packet[indexOffset + 8] >> 7) << JSOFFSET_RCLICK) & JSMASK_RCLICK;
jc->simple_state.buttons |= ((int) (packet[indexOffset + 8] >> 5) << JSOFFSET_OPTIONS) & JSMASK_OPTIONS;
jc->simple_state.buttons |= ((int) (packet[indexOffset + 8] >> 4) << JSOFFSET_SHARE) & JSMASK_SHARE;
jc->simple_state.buttons |= ((int) (packet[indexOffset + 8] >> 1) << JSOFFSET_R) & JSMASK_R;
jc->simple_state.buttons |= ((int) (packet[indexOffset + 8]) << JSOFFSET_L) & JSMASK_L;
jc->simple_state.buttons |= ((int) (packet[indexOffset + 9]) << JSOFFSET_PS) & JSMASK_PS;
// The DS5 has a mute button that is normally ignored on PC. We can use this.
jc->simple_state.buttons |= ((int) (packet[indexOffset + 9] >> 1) << JSOFFSET_TOUCHPAD_CLICK) & JSMASK_TOUCHPAD_CLICK;
jc->simple_state.buttons |= ((int) (packet[indexOffset + 9] >> 2) << JSOFFSET_MIC) & JSMASK_MIC;
jc->simple_state.buttons |= ((int)(packet[indexOffset + 9] >> 4) << JSOFFSET_FNL) & JSMASK_FNL;
jc->simple_state.buttons |= ((int)(packet[indexOffset + 9] >> 5) << JSOFFSET_FNR) & JSMASK_FNR;
jc->simple_state.buttons |= ((int)(packet[indexOffset + 9] >> 6) << JSOFFSET_SL) & JSMASK_SL;
jc->simple_state.buttons |= ((int) (packet[indexOffset + 9] >> 7) << JSOFFSET_SR) & JSMASK_SR;
//jc->btns.zr = (packet[indexOffset+6] >> 3) & 1;
//jc->btns.zl = (packet[indexOffset+6] >> 2) & 1;
jc->simple_state.rTrigger = packet[indexOffset + 5] / 255.0f;
jc->simple_state.lTrigger = packet[indexOffset + 4] / 255.0f;
if (jc->simple_state.rTrigger > 0.0) jc->simple_state.buttons |= JSMASK_ZR;
if (jc->simple_state.lTrigger > 0.0) jc->simple_state.buttons |= JSMASK_ZL;
uint16_t stick_x = packet[indexOffset + 0];
uint16_t stick_y = packet[indexOffset + 1];
stick_y = 255 - stick_y;
uint16_t stick2_x = packet[indexOffset + 2];
uint16_t stick2_y = packet[indexOffset + 3];
stick2_y = 255 - stick2_y;
jc->simple_state.stickLX = (std::fmin)(1.0f, (stick_x - 127.0f) / 127.0f);
jc->simple_state.stickLY = (std::fmin)(1.0f, (stick_y - 127.0f) / 127.0f);
jc->simple_state.stickRX = (std::fmin)(1.0f, (stick2_x - 127.0f) / 127.0f);
jc->simple_state.stickRY = (std::fmin)(1.0f, (stick2_y - 127.0f) / 127.0f);
jc->modifying_lock.lock();
jc->push_sensor_samples(imu_state.gyroX, imu_state.gyroY, imu_state.gyroZ,
imu_state.accelX, imu_state.accelY, imu_state.accelZ, jc->delta_time);
jc->get_calibrated_gyro(imu_state.gyroX, imu_state.gyroY, imu_state.gyroZ);
jc->modifying_lock.unlock();
jc->imu_state = imu_state;
return true;
}
// most of this JoyCon and Pro Controller stuff is adapted from MFosse's Joycon driver.
// bluetooth button pressed packet:
if (packet[0] == 0x3F) {
//uint16_t old_buttons = jc->buttons;
//int8_t old_dstick = jc->dstick;
jc->dstick = packet[3];
// todo: get button states here aswell:
}
int buttons_pressed = 0;
// input update packet:
// 0x21 is just buttons, 0x30 includes gyro, 0x31 includes NFC (large packet size)
if (packet[0] == 0x21 || packet[0] == 0x30 || packet[0] == 0x31) {
// offset for usb or bluetooth data:
/*int offset = settings.usingBluetooth ? 0 : 10;*/
int offset = 0;
//int offset = !jc->is_usb ? 0 : 10;
uint8_t *btn_data = packet + offset + 3;
// get button states:
{
uint16_t states = 0;
uint16_t states2 = 0;
// Left JoyCon:
if (jc->left_right == 1) {
states = (btn_data[1] << 8) | (btn_data[2] & 0xFF);
// Right JoyCon:
}
else if (jc->left_right == 2) {
states = (btn_data[1] << 8) | (btn_data[0] & 0xFF);
// Pro Controller:
}
else if (jc->left_right == 3) {
states = (btn_data[1] << 8) | (btn_data[2] & 0xFF);
states2 = (btn_data[1] << 8) | (btn_data[0] & 0xFF);
}
buttons_pressed = states;
// Pro Controller:
if (jc->left_right == 3) {
buttons_pressed |= states2 << 16;
// fix some non-sense the Pro Controller does
// clear nth bit
//num &= ~(1UL << n);
buttons_pressed &= ~(1L << 9);
buttons_pressed &= ~(1L << 12);
buttons_pressed &= ~(1L << 14);
buttons_pressed &= ~(1UL << (8 + 16));
buttons_pressed &= ~(1UL << (11 + 16));
buttons_pressed &= ~(1UL << (13 + 16));
}
else if (jc->left_right == 2) {
buttons_pressed = buttons_pressed << 16;
}
}
// get stick data:
uint8_t *stick_data = packet + offset;
if (jc->left_right == 1) {
stick_data += 6;
}
else if (jc->left_right == 2) {
stick_data += 9;
}
uint16_t stick_x = stick_data[0] | ((stick_data[1] & 0xF) << 8);
uint16_t stick_y = (stick_data[1] >> 4) | (stick_data[2] << 4);
// use calibration data:
if (jc->left_right == 1) {
jc->CalcAnalogStick2(jc->simple_state.stickLX, jc->simple_state.stickLY,
stick_x,
stick_y,
jc->stick_cal_x_l,
jc->stick_cal_y_l);
}
else if (jc->left_right == 2) {
jc->CalcAnalogStick2(jc->simple_state.stickRX, jc->simple_state.stickRY,
stick_x,
stick_y,
jc->stick_cal_x_r,
jc->stick_cal_y_r);
}
else if (jc->left_right == 3) {
// pro controller
stick_data += 6;
//printf("%d, %d\n",
// jc->stick_cal_x_l,
// jc->stick_cal_y_l);
uint16_t stick_x = stick_data[0] | ((stick_data[1] & 0xF) << 8);
uint16_t stick_y = (stick_data[1] >> 4) | (stick_data[2] << 4);
jc->CalcAnalogStick2(jc->simple_state.stickLX, jc->simple_state.stickLY,
stick_x,
stick_y,
jc->stick_cal_x_l,
jc->stick_cal_y_l);
stick_data += 3;
uint16_t stick_x2 = stick_data[0] | ((stick_data[1] & 0xF) << 8);
uint16_t stick_y2 = (stick_data[1] >> 4) | (stick_data[2] << 4);
jc->CalcAnalogStick2(jc->simple_state.stickRX, jc->simple_state.stickRY,
stick_x2,
stick_y2,
jc->stick_cal_x_r,
jc->stick_cal_y_r);
}
jc->battery = (stick_data[1] & 0xF0) >> 4;
//printf("JoyCon battery: %d\n", jc->battery);
// Accelerometer:
// Accelerometer data is absolute
{
// get accelerometer X:
float accelSampleZ = (float)uint16_to_int16(packet[13] | (packet[14] << 8) & 0xFF00) * jc->acc_cal_coeff[0];
float accelSampleX = (float)uint16_to_int16(packet[15] | (packet[16] << 8) & 0xFF00) * jc->acc_cal_coeff[1];
float accelSampleY = (float)uint16_to_int16(packet[17] | (packet[18] << 8) & 0xFF00) * jc->acc_cal_coeff[2];
float gyroSampleX = (float)uint16_to_int16(packet[19] | (packet[20] << 8) & 0xFF00) * jc->gyro_cal_coeff[0];
float gyroSampleY = (float)uint16_to_int16(packet[21] | (packet[22] << 8) & 0xFF00) * jc->gyro_cal_coeff[1];
float gyroSampleZ = (float)uint16_to_int16(packet[23] | (packet[24] << 8) & 0xFF00) * jc->gyro_cal_coeff[2];
if (gyroSampleX == 0.f && gyroSampleY == 0.f && gyroSampleZ == 0.f && accelSampleX == 0.f && accelSampleY == 0.f && accelSampleZ == 0.f)
{
// all zero?
hasIMU = false;
}
//jc->push_sensor_samples(accelSampleX, accelSampleY, accelSampleZ, gyroSampleX, gyroSampleY, gyroSampleZ);
float accelX = accelSampleX;
float accelY = accelSampleY;
float accelZ = accelSampleZ;
float totalGyroX = gyroSampleX - jc->sensor_cal[1][0];
float totalGyroY = gyroSampleY - jc->sensor_cal[1][1];
float totalGyroZ = gyroSampleZ - jc->sensor_cal[1][2];
// each packet actually has 3 samples worth of data, so collect sample 2
accelSampleZ = (float)uint16_to_int16(packet[25] | (packet[26] << 8) & 0xFF00) * jc->acc_cal_coeff[0];
accelSampleX = (float)uint16_to_int16(packet[27] | (packet[28] << 8) & 0xFF00) * jc->acc_cal_coeff[1];
accelSampleY = (float)uint16_to_int16(packet[29] | (packet[30] << 8) & 0xFF00) * jc->acc_cal_coeff[2];
gyroSampleX = (float)uint16_to_int16(packet[31] | (packet[32] << 8) & 0xFF00) * jc->gyro_cal_coeff[0];
gyroSampleY = (float)uint16_to_int16(packet[33] | (packet[34] << 8) & 0xFF00) * jc->gyro_cal_coeff[1];
gyroSampleZ = (float)uint16_to_int16(packet[35] | (packet[36] << 8) & 0xFF00) * jc->gyro_cal_coeff[2];
//jc->push_sensor_samples(accelSampleX, accelSampleY, accelSampleZ, gyroSampleX, gyroSampleY, gyroSampleZ);
accelX += accelSampleX;
accelY += accelSampleY;
accelZ += accelSampleZ;
totalGyroX += gyroSampleX - jc->sensor_cal[1][0];
totalGyroY += gyroSampleY - jc->sensor_cal[1][1];
totalGyroZ += gyroSampleZ - jc->sensor_cal[1][2];
// ... and sample 3
accelSampleZ = (float)uint16_to_int16(packet[37] | (packet[38] << 8) & 0xFF00) * jc->acc_cal_coeff[0];
accelSampleX = (float)uint16_to_int16(packet[39] | (packet[40] << 8) & 0xFF00) * jc->acc_cal_coeff[1];
accelSampleY = (float)uint16_to_int16(packet[41] | (packet[42] << 8) & 0xFF00) * jc->acc_cal_coeff[2];
gyroSampleX = (float)uint16_to_int16(packet[43] | (packet[44] << 8) & 0xFF00) * jc->gyro_cal_coeff[0];
gyroSampleY = (float)uint16_to_int16(packet[45] | (packet[46] << 8) & 0xFF00) * jc->gyro_cal_coeff[1];
gyroSampleZ = (float)uint16_to_int16(packet[47] | (packet[48] << 8) & 0xFF00) * jc->gyro_cal_coeff[2];
//jc->push_sensor_samples(accelSampleX, accelSampleY, accelSampleZ, gyroSampleX, gyroSampleY, gyroSampleZ);
accelX += accelSampleX;
accelY += accelSampleY;
accelZ += accelSampleZ;
totalGyroX += gyroSampleX - jc->sensor_cal[1][0];
totalGyroY += gyroSampleY - jc->sensor_cal[1][1];
totalGyroZ += gyroSampleZ - jc->sensor_cal[1][2];
// average the 3 samples
accelX /= 3;
accelY /= 3;
accelZ /= 3;
totalGyroX /= 3;
totalGyroY /= 3;
totalGyroZ /= 3;
imu_state.accelX = -accelX;
imu_state.accelY = accelY;
imu_state.accelZ = -accelZ;
imu_state.gyroX = -totalGyroY;
imu_state.gyroY = totalGyroZ;
imu_state.gyroZ = totalGyroX;
//printf("Switch accel: %.4f, %.4f, %.4f\n", imu_state.accelX, imu_state.accelY, imu_state.accelZ);
}
}
// handle buttons
{
// left:
if (jc->left_right == 1) {
jc->simple_state.buttons |= ((buttons_pressed >> 1) << JSOFFSET_UP) & JSMASK_UP;
jc->simple_state.buttons |= ((buttons_pressed) << JSOFFSET_DOWN) & JSMASK_DOWN;
jc->simple_state.buttons |= ((buttons_pressed >> 3) << JSOFFSET_LEFT) & JSMASK_LEFT;
jc->simple_state.buttons |= ((buttons_pressed >> 2) << JSOFFSET_RIGHT) & JSMASK_RIGHT;
jc->simple_state.buttons |= ((buttons_pressed >> 11) << JSOFFSET_LCLICK) & JSMASK_LCLICK;
jc->simple_state.buttons |= ((buttons_pressed >> 8) << JSOFFSET_MINUS) & JSMASK_MINUS;
jc->simple_state.buttons |= ((buttons_pressed >> 6) << JSOFFSET_L) & JSMASK_L;
jc->simple_state.buttons |= ((buttons_pressed >> 13) << JSOFFSET_CAPTURE) & JSMASK_CAPTURE;
jc->simple_state.lTrigger = (float)((buttons_pressed >> 7) & 1);
jc->simple_state.buttons |= ((int)(jc->simple_state.lTrigger) << JSOFFSET_ZL) & JSMASK_ZL;
jc->simple_state.buttons |= ((buttons_pressed >> 5) << JSOFFSET_SL) & JSMASK_SL;
jc->simple_state.buttons |= ((buttons_pressed >> 4) << JSOFFSET_SR) & JSMASK_SR;
// just need to negate gyroZ
imu_state.gyroZ = -imu_state.gyroZ;
}
// right:
if (jc->left_right == 2) {
jc->simple_state.buttons |= ((buttons_pressed >> 16) << JSOFFSET_W) & JSMASK_W;
jc->simple_state.buttons |= ((buttons_pressed >> 17) << JSOFFSET_N) & JSMASK_N;
jc->simple_state.buttons |= ((buttons_pressed >> 18) << JSOFFSET_S) & JSMASK_S;
jc->simple_state.buttons |= ((buttons_pressed >> 19) << JSOFFSET_E) & JSMASK_E;
jc->simple_state.buttons |= ((buttons_pressed >> 26) << JSOFFSET_RCLICK) & JSMASK_RCLICK;
jc->simple_state.buttons |= ((buttons_pressed >> 25) << JSOFFSET_PLUS) & JSMASK_PLUS;
jc->simple_state.buttons |= ((buttons_pressed >> 22) << JSOFFSET_R) & JSMASK_R;
jc->simple_state.buttons |= ((buttons_pressed >> 28) << JSOFFSET_HOME) & JSMASK_HOME;
jc->simple_state.rTrigger = (float)((buttons_pressed >> 23) & 1);
jc->simple_state.buttons |= ((int)(jc->simple_state.rTrigger) << JSOFFSET_ZR) & JSMASK_ZR;
jc->simple_state.buttons |= ((buttons_pressed >> 21) << JSOFFSET_SL) & JSMASK_SL;
jc->simple_state.buttons |= ((buttons_pressed >> 20) << JSOFFSET_SR) & JSMASK_SR;
// for some reason we need to negate x and y, and z on the right joycon
imu_state.gyroX = -imu_state.gyroX;
imu_state.gyroY = -imu_state.gyroY;
imu_state.gyroZ = -imu_state.gyroZ;
imu_state.accelX = -imu_state.accelX;
imu_state.accelY = -imu_state.accelY;
}
// pro controller:
if (jc->left_right == 3) {
jc->simple_state.buttons |= ((buttons_pressed >> 1) << JSOFFSET_UP) & JSMASK_UP;
jc->simple_state.buttons |= ((buttons_pressed) << JSOFFSET_DOWN) & JSMASK_DOWN;
jc->simple_state.buttons |= ((buttons_pressed >> 3) << JSOFFSET_LEFT) & JSMASK_LEFT;
jc->simple_state.buttons |= ((buttons_pressed >> 2) << JSOFFSET_RIGHT) & JSMASK_RIGHT;
jc->simple_state.buttons |= ((buttons_pressed >> 16) << JSOFFSET_W) & JSMASK_W;
jc->simple_state.buttons |= ((buttons_pressed >> 17) << JSOFFSET_N) & JSMASK_N;
jc->simple_state.buttons |= ((buttons_pressed >> 18) << JSOFFSET_S) & JSMASK_S;
jc->simple_state.buttons |= ((buttons_pressed >> 19) << JSOFFSET_E) & JSMASK_E;
jc->simple_state.buttons |= ((buttons_pressed >> 11) << JSOFFSET_LCLICK) & JSMASK_LCLICK;
jc->simple_state.buttons |= ((buttons_pressed >> 26) << JSOFFSET_RCLICK) & JSMASK_RCLICK;
jc->simple_state.buttons |= ((buttons_pressed >> 25) << JSOFFSET_PLUS) & JSMASK_PLUS;
jc->simple_state.buttons |= ((buttons_pressed >> 8) << JSOFFSET_MINUS) & JSMASK_MINUS;
jc->simple_state.buttons |= ((buttons_pressed >> 22) << JSOFFSET_R) & JSMASK_R;
jc->simple_state.buttons |= ((buttons_pressed >> 6) << JSOFFSET_L) & JSMASK_L;
jc->simple_state.buttons |= ((buttons_pressed >> 28) << JSOFFSET_HOME) & JSMASK_HOME;
jc->simple_state.buttons |= ((buttons_pressed >> 13) << JSOFFSET_CAPTURE) & JSMASK_CAPTURE;
jc->simple_state.rTrigger = (float)((buttons_pressed >> 23) & 1);
jc->simple_state.lTrigger = (float)((buttons_pressed >> 7) & 1);
jc->simple_state.buttons |= ((int)(jc->simple_state.lTrigger) << JSOFFSET_ZL) & JSMASK_ZL;
jc->simple_state.buttons |= ((int)(jc->simple_state.rTrigger) << JSOFFSET_ZR) & JSMASK_ZR;
// just need to negate gyroZ
imu_state.gyroZ = -imu_state.gyroZ;
}
}
jc->modifying_lock.lock();
jc->push_sensor_samples(imu_state.gyroX, imu_state.gyroY, imu_state.gyroZ,
imu_state.accelX, imu_state.accelY, imu_state.accelZ, jc->delta_time);
jc->get_calibrated_gyro(imu_state.gyroX, imu_state.gyroY, imu_state.gyroZ);
jc->modifying_lock.unlock();
jc->imu_state = imu_state;
return true;
}
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