Increased precision for PS4 sensor data conversion
Sam Lantinga
parent
975039ce0d
commit
3340864786
|
|
@ -38,8 +38,6 @@
|
|||
/* Define this if you want to log calibration data */
|
||||
/*#define DEBUG_PS4_CALIBRATION*/
|
||||
|
||||
#define GYRO_RES_PER_DEGREE 1024.0f
|
||||
#define ACCEL_RES_PER_G 8192.0f
|
||||
#define BLUETOOTH_DISCONNECT_TIMEOUT_MS 500
|
||||
|
||||
#define LOAD16(A, B) (Sint16)((Uint16)(A) | (((Uint16)(B)) << 8))
|
||||
|
|
@ -118,7 +116,7 @@ typedef struct
|
|||
typedef struct
|
||||
{
|
||||
Sint16 bias;
|
||||
float sensitivity;
|
||||
float scale;
|
||||
} IMUCalibrationData;
|
||||
|
||||
typedef struct
|
||||
|
|
@ -145,6 +143,10 @@ typedef struct
|
|||
Uint8 led_red;
|
||||
Uint8 led_green;
|
||||
Uint8 led_blue;
|
||||
Uint16 gyro_numerator;
|
||||
Uint16 gyro_denominator;
|
||||
Uint16 accel_numerator;
|
||||
Uint16 accel_denominator;
|
||||
Uint64 sensor_ticks;
|
||||
Uint16 last_tick;
|
||||
Uint16 valid_crc_packets; /* wrapping counter */
|
||||
|
|
@ -243,6 +245,11 @@ static SDL_bool HIDAPI_DriverPS4_InitDevice(SDL_HIDAPI_Device *device)
|
|||
}
|
||||
ctx->device = device;
|
||||
|
||||
ctx->gyro_numerator = 1;
|
||||
ctx->gyro_denominator = 16;
|
||||
ctx->accel_numerator = 1;
|
||||
ctx->accel_denominator = 8192;
|
||||
|
||||
device->context = ctx;
|
||||
|
||||
if (device->serial && SDL_strlen(device->serial) == 12) {
|
||||
|
|
@ -314,6 +321,10 @@ static SDL_bool HIDAPI_DriverPS4_InitDevice(SDL_HIDAPI_Device *device)
|
|||
if (size == 48 && data[2] == 0x27) {
|
||||
Uint8 capabilities = data[4];
|
||||
Uint8 device_type = data[5];
|
||||
Uint16 gyro_numerator = LOAD16(data[10], data[11]);
|
||||
Uint16 gyro_denominator = LOAD16(data[12], data[13]);
|
||||
Uint16 accel_numerator = LOAD16(data[14], data[15]);
|
||||
Uint16 accel_denominator = LOAD16(data[16], data[17]);
|
||||
|
||||
#ifdef DEBUG_PS4_PROTOCOL
|
||||
HIDAPI_DumpPacket("PS4 capabilities: size = %d", data, size);
|
||||
|
|
@ -357,6 +368,15 @@ static SDL_bool HIDAPI_DriverPS4_InitDevice(SDL_HIDAPI_Device *device)
|
|||
joystick_type = SDL_JOYSTICK_TYPE_UNKNOWN;
|
||||
break;
|
||||
}
|
||||
|
||||
if (gyro_numerator && gyro_denominator) {
|
||||
ctx->gyro_numerator = gyro_numerator;
|
||||
ctx->gyro_denominator = gyro_denominator;
|
||||
}
|
||||
if (accel_numerator && accel_denominator) {
|
||||
ctx->accel_numerator = accel_numerator;
|
||||
ctx->accel_denominator = accel_denominator;
|
||||
}
|
||||
} else if (device->vendor_id == USB_VENDOR_SONY) {
|
||||
ctx->official_controller = SDL_TRUE;
|
||||
ctx->sensors_supported = SDL_TRUE;
|
||||
|
|
@ -411,7 +431,7 @@ static int HIDAPI_DriverPS4_GetDevicePlayerIndex(SDL_HIDAPI_Device *device, SDL_
|
|||
return -1;
|
||||
}
|
||||
|
||||
static void HIDAPI_DriverPS4_LoadCalibrationData(SDL_HIDAPI_Device *device)
|
||||
static SDL_bool HIDAPI_DriverPS4_LoadOfficialCalibrationData(SDL_HIDAPI_Device *device)
|
||||
{
|
||||
SDL_DriverPS4_Context *ctx = (SDL_DriverPS4_Context *)device->context;
|
||||
int i, tries, size;
|
||||
|
|
@ -422,7 +442,7 @@ static void HIDAPI_DriverPS4_LoadCalibrationData(SDL_HIDAPI_Device *device)
|
|||
#ifdef DEBUG_PS4_CALIBRATION
|
||||
SDL_Log("Not an official controller, ignoring calibration\n");
|
||||
#endif
|
||||
return;
|
||||
return SDL_FALSE;
|
||||
}
|
||||
|
||||
for (tries = 0; tries < 5; ++tries) {
|
||||
|
|
@ -432,7 +452,7 @@ static void HIDAPI_DriverPS4_LoadCalibrationData(SDL_HIDAPI_Device *device)
|
|||
#ifdef DEBUG_PS4_CALIBRATION
|
||||
SDL_Log("Short read of calibration data: %d, ignoring calibration\n", size);
|
||||
#endif
|
||||
return;
|
||||
return SDL_FALSE;
|
||||
}
|
||||
|
||||
if (device->is_bluetooth) {
|
||||
|
|
@ -441,7 +461,7 @@ static void HIDAPI_DriverPS4_LoadCalibrationData(SDL_HIDAPI_Device *device)
|
|||
#ifdef DEBUG_PS4_CALIBRATION
|
||||
SDL_Log("Short read of calibration data: %d, ignoring calibration\n", size);
|
||||
#endif
|
||||
return;
|
||||
return SDL_FALSE;
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -471,6 +491,7 @@ static void HIDAPI_DriverPS4_LoadCalibrationData(SDL_HIDAPI_Device *device)
|
|||
Sint16 sAccZPlus, sAccZMinus;
|
||||
|
||||
float flNumerator;
|
||||
float flDenominator;
|
||||
Sint16 sRange2g;
|
||||
|
||||
#ifdef DEBUG_PS4_CALIBRATION
|
||||
|
|
@ -507,36 +528,44 @@ static void HIDAPI_DriverPS4_LoadCalibrationData(SDL_HIDAPI_Device *device)
|
|||
sAccZPlus = LOAD16(data[31], data[32]);
|
||||
sAccZMinus = LOAD16(data[33], data[34]);
|
||||
|
||||
flNumerator = (sGyroSpeedPlus + sGyroSpeedMinus) * GYRO_RES_PER_DEGREE;
|
||||
flNumerator = (float)(sGyroSpeedPlus + sGyroSpeedMinus) * ctx->gyro_denominator / ctx->gyro_numerator;
|
||||
flDenominator = (float)(SDL_abs(sGyroPitchPlus - sGyroPitchBias) + SDL_abs(sGyroPitchMinus - sGyroPitchBias));
|
||||
if (flDenominator != 0.0f) {
|
||||
ctx->calibration[0].bias = sGyroPitchBias;
|
||||
ctx->calibration[0].sensitivity = flNumerator / (sGyroPitchPlus - sGyroPitchMinus);
|
||||
ctx->calibration[0].scale = flNumerator / flDenominator;
|
||||
}
|
||||
|
||||
flDenominator = (float)(SDL_abs(sGyroYawPlus - sGyroYawBias) + SDL_abs(sGyroYawMinus - sGyroYawBias));
|
||||
if (flDenominator != 0.0f) {
|
||||
ctx->calibration[1].bias = sGyroYawBias;
|
||||
ctx->calibration[1].sensitivity = flNumerator / (sGyroYawPlus - sGyroYawMinus);
|
||||
ctx->calibration[1].scale = flNumerator / flDenominator;
|
||||
}
|
||||
|
||||
flDenominator = (float)(SDL_abs(sGyroRollPlus - sGyroRollBias) + SDL_abs(sGyroRollMinus - sGyroRollBias));
|
||||
if (flDenominator != 0.0f) {
|
||||
ctx->calibration[2].bias = sGyroRollBias;
|
||||
ctx->calibration[2].sensitivity = flNumerator / (sGyroRollPlus - sGyroRollMinus);
|
||||
ctx->calibration[2].scale = flNumerator / flDenominator;
|
||||
}
|
||||
|
||||
sRange2g = sAccXPlus - sAccXMinus;
|
||||
ctx->calibration[3].bias = sAccXPlus - sRange2g / 2;
|
||||
ctx->calibration[3].sensitivity = 2.0f * ACCEL_RES_PER_G / (float)sRange2g;
|
||||
ctx->calibration[3].scale = (2.0f * ctx->accel_denominator / ctx->accel_numerator) / sRange2g;
|
||||
|
||||
sRange2g = sAccYPlus - sAccYMinus;
|
||||
ctx->calibration[4].bias = sAccYPlus - sRange2g / 2;
|
||||
ctx->calibration[4].sensitivity = 2.0f * ACCEL_RES_PER_G / (float)sRange2g;
|
||||
ctx->calibration[4].scale = (2.0f * ctx->accel_denominator / ctx->accel_numerator) / sRange2g;
|
||||
|
||||
sRange2g = sAccZPlus - sAccZMinus;
|
||||
ctx->calibration[5].bias = sAccZPlus - sRange2g / 2;
|
||||
ctx->calibration[5].sensitivity = 2.0f * ACCEL_RES_PER_G / (float)sRange2g;
|
||||
ctx->calibration[5].scale = (2.0f * ctx->accel_denominator / ctx->accel_numerator) / sRange2g;
|
||||
|
||||
ctx->hardware_calibration = SDL_TRUE;
|
||||
for (i = 0; i < 6; ++i) {
|
||||
float divisor = (i < 3 ? 64.0f : 1.0f);
|
||||
#ifdef DEBUG_PS4_CALIBRATION
|
||||
SDL_Log("calibration[%d] bias = %d, sensitivity = %f\n", i, ctx->calibration[i].bias, ctx->calibration[i].sensitivity);
|
||||
SDL_Log("calibration[%d] bias = %d, sensitivity = %f\n", i, ctx->calibration[i].bias, ctx->calibration[i].scale);
|
||||
#endif
|
||||
/* Some controllers have a bad calibration */
|
||||
if ((SDL_abs(ctx->calibration[i].bias) > 1024) || (SDL_fabs(1.0f - ctx->calibration[i].sensitivity / divisor) > 0.5f)) {
|
||||
if (SDL_abs(ctx->calibration[i].bias) > 1024 || SDL_fabs(1.0f - ctx->calibration[i].scale) > 0.5f) {
|
||||
#ifdef DEBUG_PS4_CALIBRATION
|
||||
SDL_Log("invalid calibration, ignoring\n");
|
||||
#endif
|
||||
|
|
@ -548,29 +577,39 @@ static void HIDAPI_DriverPS4_LoadCalibrationData(SDL_HIDAPI_Device *device)
|
|||
SDL_Log("Calibration data not available\n");
|
||||
#endif
|
||||
}
|
||||
return ctx->hardware_calibration;
|
||||
}
|
||||
|
||||
static void HIDAPI_DriverPS4_LoadCalibrationData(SDL_HIDAPI_Device *device)
|
||||
{
|
||||
SDL_DriverPS4_Context *ctx = (SDL_DriverPS4_Context *)device->context;
|
||||
int i;
|
||||
|
||||
if (!HIDAPI_DriverPS4_LoadOfficialCalibrationData(device)) {
|
||||
for (i = 0; i < SDL_arraysize(ctx->calibration); ++i) {
|
||||
ctx->calibration[i].bias = 0;
|
||||
ctx->calibration[i].scale = 1.0f;
|
||||
}
|
||||
}
|
||||
|
||||
/* Scale the raw data to the units expected by SDL */
|
||||
for (i = 0; i < SDL_arraysize(ctx->calibration); ++i) {
|
||||
double scale = ctx->calibration[i].scale;
|
||||
|
||||
if (i < 3) {
|
||||
scale *= ((double)ctx->gyro_numerator / ctx->gyro_denominator) * SDL_PI_D / 180.0;
|
||||
} else {
|
||||
scale *= ((double)ctx->accel_numerator / ctx->accel_denominator) * SDL_STANDARD_GRAVITY;
|
||||
}
|
||||
ctx->calibration[i].scale = (float)scale;
|
||||
}
|
||||
}
|
||||
|
||||
static float HIDAPI_DriverPS4_ApplyCalibrationData(SDL_DriverPS4_Context *ctx, int index, Sint16 value)
|
||||
{
|
||||
float result;
|
||||
|
||||
if (ctx->hardware_calibration) {
|
||||
IMUCalibrationData *calibration = &ctx->calibration[index];
|
||||
|
||||
result = (value - calibration->bias) * calibration->sensitivity;
|
||||
} else if (index < 3) {
|
||||
result = value * 64.f;
|
||||
} else {
|
||||
result = value;
|
||||
}
|
||||
|
||||
/* Convert the raw data to the units expected by SDL */
|
||||
if (index < 3) {
|
||||
result = (result / GYRO_RES_PER_DEGREE) * SDL_PI_F / 180.0f;
|
||||
} else {
|
||||
result = (result / ACCEL_RES_PER_G) * SDL_STANDARD_GRAVITY;
|
||||
}
|
||||
return result;
|
||||
return ((float)value - calibration->bias) * calibration->scale;
|
||||
}
|
||||
|
||||
static int HIDAPI_DriverPS4_UpdateEffects(SDL_HIDAPI_Device *device)
|
||||
|
|
|
|||
Loading…
Reference in New Issue